@inproceedings{martinelli:hal-00641050, TITLE = {{Vision-Aided Inertial Navigation: Closed-Form Determination of Absolute Scale, Speed and Attitude}}, AUTHOR = {Martinelli, Agostino and Troiani, Chiara and Renzaglia, Alessandro}, URL = {https://inria.hal.science/hal-00641050}, BOOKTITLE = {{International Conference on Intelligent Robots and Systems}}, ADDRESS = {San Francisco, United States}, YEAR = {2011}, MONTH = Sep, PDF = {https://inria.hal.science/hal-00641050/file/IROS11_0600_FI.pdf}, HAL_ID = {hal-00641050}, HAL_VERSION = {v1}, }