L. Armesto, J. Tornero, and M. , Fast Ego-motion Estimation with Multi-rate Fusion of Inertial and Vision, The International Journal of Robotics Research, vol.26, issue.6, pp.577-589, 2007.
DOI : 10.1177/0278364907079283

M. Blosch, S. Weiss, D. Scaramuzza, and R. Siegwart, Vision based MAV navigation in unknown and unstructured environments, 2010 IEEE International Conference on Robotics and Automation, 2010.
DOI : 10.1109/ROBOT.2010.5509920

W. L. Brogan, Modern Control Theory, 1991.

P. Corke, J. Lobo, and J. Dias, An Introduction to Inertial and Visual Sensing, The International Journal of Robotics Research, vol.26, issue.6, pp.519-535, 2007.
DOI : 10.1177/0278364907079279

J. Dias, M. Vinzce, P. Corke, and J. Lobo, Editorial: Special Issue: 2nd Workshop on Integration of Vision and Inertial Sensors, The International Journal of Robotics Research, vol.26, issue.6, 2007.
DOI : 10.1177/0278364907079903

P. Gemeiner, P. Einramhof, and M. Vincze, Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data, The International Journal of Robotics Research, vol.26, issue.6, pp.591-605, 2007.
DOI : 10.1177/0278364907080058

A. Isidori, Nonlinear Control Systems, 1995.

E. Jones, A. Vedaldi, and S. Soatto, Inertial Structure From Motion with Autocalibration, Proc. IEEE Int'l Conf. Computer Vision Workshop on Dynamical Vision, 2007.

E. Jones and S. Soatto, Visual-inertial navigation, mapping and localization: A scalable real-time causal approach, The International Journal of Robotics Research, vol.73, issue.60, 2011.
DOI : 10.1007/s11263-006-0025-9

J. Kelly and G. Sukhatme, Visual-inertial simultaneous localization, mapping and sensor-to-sensor self-calibration, Int, Journal of Robotics Research, 2010.
DOI : 10.1109/cira.2009.5423178
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.160.1167

J. Kim and S. Sukkarieh, Real-time implementation of airborne inertial-SLAM, Robotics and Autonomous Systems, vol.55, issue.1, pp.55-62, 2007.
DOI : 10.1016/j.robot.2006.06.006

J. Lobo and J. Dias, Relative Pose Calibration Between Visual and Inertial Sensors, The International Journal of Robotics Research, vol.26, issue.6, pp.561-575, 2007.
DOI : 10.1177/0278364907079276

S. Lupashin, A. Schollig, M. Sherback, and R. , A simple learning strategy for high-speed quadrocopter multi-flips, 2010 IEEE International Conference on Robotics and Automation, 2010.
DOI : 10.1109/ROBOT.2010.5509452

A. Martinelli, State Estimation Based on the Concept of Continuous Symmetry and Observability Analysis: The Case of Calibration, IEEE Transactions on Robotics, vol.27, issue.2, pp.239-255, 2011.
DOI : 10.1109/TRO.2011.2109210
URL : https://hal.archives-ouvertes.fr/hal-00578795

A. Martinelli, Closed-form solution for attitude and speed determination by fusing monocular vision and inertial sensor measurements, 2011 IEEE International Conference on Robotics and Automation, 2011.
DOI : 10.1109/ICRA.2011.5980081
URL : https://hal.archives-ouvertes.fr/hal-00568638

A. Martinelli, Vision and IMU Data Fusion: Closed-Form Solutions for Attitude, Speed, Absolute Scale, and Bias Determination, IEEE Transactions on Robotics, vol.28, issue.1, pp.44-60, 2012.
DOI : 10.1109/TRO.2011.2160468
URL : https://hal.archives-ouvertes.fr/hal-00743262

A. I. Mourikis and S. I. Roumeliotis, A Multi-State Constrained Kalman filter for Vision-aided Inertial Navigation, Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), pp.10-14

M. Veth and J. Raquet, Fusing Low-Cost Image and Inertial Sensors for Passive Navigation, Navigation, vol.Vol II, issue.6, 2007.
DOI : 10.1002/j.2161-4296.2007.tb00391.x

J. Y. Bouguet, Camera Calibration toolbox for

A. Natraj, C. Demonceaux, P. Vasseur, and P. Sturm, Vision based attitude and altitude estimation for UAVs in dark environments, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094681
URL : https://hal.archives-ouvertes.fr/hal-00746664

A. Martinelli and C. Troiani, Vision-Aided Inertial Navigation Using Virtual Features, INRIA tech rep