@techreport{martinelli:hal-00804548, TITLE = {{Visual-Inertial Structure from Motion Observability}}, AUTHOR = {Martinelli, Agostino}, URL = {https://inria.hal.science/hal-00804548}, TYPE = {Research Report}, NUMBER = {RR-8272}, INSTITUTION = {{INRIA}}, YEAR = {2013}, PDF = {https://inria.hal.science/hal-00804548/file/RR-8272.pdf}, HAL_ID = {hal-00804548}, HAL_VERSION = {v1}, }