@article{martinelli:hal-02427991, TITLE = {{Cooperative Visual-Inertial Odometry: Analysis of Singularities, Degeneracies and Minimal Cases}}, AUTHOR = {Martinelli, Agostino}, URL = {https://inria.hal.science/hal-02427991}, JOURNAL = {{IEEE Robotics and Automation Letters}}, PUBLISHER = {{IEEE }}, VOLUME = {5}, NUMBER = {2}, PAGES = {668 - 675}, YEAR = {2020}, DOI = {10.1109/LRA.2020.2965063}, PDF = {https://inria.hal.science/hal-02427991/file/mainHAL.pdf}, HAL_ID = {hal-02427991}, HAL_VERSION = {v1}, }