@incollection{martinelli:hal-00779460, TITLE = {{Vision and IMU Data Fusion: Closed-Form Determination of the Absolute Scale, Speed and Attitude}}, AUTHOR = {Martinelli, Agostino and Siegwart, Roland Y.}, URL = {https://inria.hal.science/hal-00779460}, BOOKTITLE = {{Handbook of Intelligent Vehicles}}, EDITOR = {Azim Eskandarian}, PUBLISHER = {{Springer}}, YEAR = {2012}, PDF = {https://inria.hal.science/hal-00779460/file/Section3a.pdf}, HAL_ID = {hal-00779460}, HAL_VERSION = {v1}, }