@article{martinelli:hal-02013869, TITLE = {{Cooperative Visual-Inertial Sensor Fusion: Fundamental Equations and State Determination in Closed-Form}}, AUTHOR = {Martinelli, Agostino and Renzaglia, Alessandro and Oliva, Alexander}, URL = {https://inria.hal.science/hal-02013869}, JOURNAL = {{Autonomous Robots}}, PUBLISHER = {{Springer Verlag}}, VOLUME = {44}, PAGES = {339--357}, YEAR = {2020}, MONTH = Mar, DOI = {10.1007/s10514-019-09841-8}, KEYWORDS = {visual-inertial sensor fusion ; cooperative sensor fusion ; observability ; closed-form solution}, PDF = {https://inria.hal.science/hal-02013869/file/Manuscript.pdf}, HAL_ID = {hal-02013869}, HAL_VERSION = {v1}, }