@book{martinelli:hal-03175917, TITLE = {{Observability: A New Theory Based on the Group of Invariance}}, AUTHOR = {Martinelli, Agostino}, URL = {https://inria.hal.science/hal-03175917}, PUBLISHER = {{Society for Industrial and Applied Mathematics - SIAM}}, PAGES = {1-259}, YEAR = {2020}, MONTH = Jun, DOI = {10.1137/1.9781611976250}, KEYWORDS = {Nonlinear observability ; nonlinear unknown input observability ; observability rank condition ; group of invariance of observability ; visual-inertial sensor fusion}, HAL_ID = {hal-03175917}, HAL_VERSION = {v1}, }