@techreport{martinelli:hal-00679529, TITLE = {{Vision-Aided Inertial Navigation Using Virtual Features}}, AUTHOR = {Martinelli, Agostino and Troiani, Chiara}, URL = {https://inria.hal.science/hal-00679529}, TYPE = {Research Report}, NUMBER = {RR-7906}, INSTITUTION = {{INRIA}}, YEAR = {2012}, MONTH = Mar, PDF = {https://inria.hal.science/hal-00679529/file/RR-7906.pdf}, HAL_ID = {hal-00679529}, HAL_VERSION = {v1}, }