@techreport{martinelli:inria-00569083, TITLE = {{Closed-Form Solutions for Attitude, Speed, Absolute Scale and Bias Determination by Fusing Vision and Inertial Measurements}}, AUTHOR = {Martinelli, Agostino}, URL = {https://inria.hal.science/inria-00569083}, TYPE = {Research Report}, NUMBER = {RR-7530}, INSTITUTION = {{INRIA}}, YEAR = {2011}, MONTH = Jan, PDF = {https://inria.hal.science/inria-00569083v5/file/RR-7530.pdf}, HAL_ID = {inria-00569083}, HAL_VERSION = {v5}, }