J. Barbot, M. Fliess, and T. Floquet, An algebraic framework for the design of nonlinear observers with unknown inputs, 2007 46th IEEE Conference on Decision and Control, 2007.
DOI : 10.1109/CDC.2007.4434695
URL : https://hal.archives-ouvertes.fr/inria-00172366

J. Barbot, D. Boutat, and T. Floquet, An observation algorithm for nonlinear systems with unknown inputs, Automatica, vol.45, issue.8, 1970.
URL : https://hal.archives-ouvertes.fr/inria-00391819

G. Basile and G. Marro, On the observability of linear, time-invariant systems with unknown inputs, Journal of Optimization Theory and Applications, vol.3, issue.6, pp.410-415, 1969.
DOI : 10.1007/BF00929356

F. A. Belo, P. Salaris, and A. Bicchi, 3 Known Landmarks are Enough for Solving Planar Bearing SLAM and Fully Reconstruct Unknown Inputs, The 2010 IEEE, RSJ International Conference on Intelligent Robots and Systems, 2010.

A. Berthoz, B. Pavard, and L. R. Young, Perception of linear horizontal self-motion induced by peripheral vision (linearvection) basic characteristics and visual-vestibular interactions, Experimental Brain Research, vol.23, issue.5, pp.471-489, 1975.
DOI : 10.1007/BF00234916

M. Bryson and S. Sukkarieh, Observability analysis and active control for airborne SLAM, IEEE Transactions on Aerospace and Electronic Systems, vol.44, issue.1, pp.261-280, 2008.
DOI : 10.1109/TAES.2008.4517003

W. Chen and M. Saif, Unknown input observer design for a class of nonlinear systems: an LMI approach, IEEE American Control Conference, 2006.

M. Darouach, M. Zasadzinski, and S. J. Xu, Full-order observers for linear systems with unknown inputs, IEEE Transactions on Automatic Control, vol.39, issue.3, 1994.
DOI : 10.1109/9.280770
URL : https://hal.archives-ouvertes.fr/hal-00098125

K. Dokka, P. R. Macneilage, G. C. De-angelis, and D. E. Angelaki, Estimating distance during self-motion: A role for visual-vestibular interactions, Journal of Vision, vol.11, issue.13, pp.11-12, 2011.
DOI : 10.1167/11.13.2

C. R. Fetsch, G. C. Deangelis, and D. E. Angelaki, Visual-vestibular cue integration for heading perception: applications of optimal cue integration theory, European Journal of Neuroscience, vol.42, issue.Suppl., pp.1721-1729, 2010.
DOI : 10.1111/j.1460-9568.2010.07207.x

T. Floquet and J. Barbot, A sliding mode approach of unknown input observers for linear systems, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), 2004.
DOI : 10.1109/CDC.2004.1430293

T. Floquet, C. Edwards, and S. Spurgeon, On sliding mode observers for systems with unknown inputs, International Journal of Adaptive Control and Signal Processing, vol.34, issue.8-9, pp.638-656, 2007.
DOI : 10.1002/acs.958
URL : https://hal.archives-ouvertes.fr/inria-00171472

Y. Guan and M. Saif, A novel approach to the design of unknown input observers, IEEE Transactions on Automatic Control, vol.36, issue.5, 1991.
DOI : 10.1109/9.76372

R. Guidorzi and G. Marro, On Wonham stabilizability condition in the synthesis of observers for unknown-input systems, IEEE Transactions on Automatic Control, vol.16, issue.5, pp.499-500
DOI : 10.1109/TAC.1971.1099766

X. Chao, S. I. Guo, and . Roumeliotis, IMU-RGBD Camera 3D Pose Estimation and Extrinsic Calibration: Observability Analysis and Consistency Improvement, 2013.

Q. P. Ha and H. , Trinh State and input simultaneous estimation for a class of nonlinear systems Automatica, p.40, 2004.

H. Hammouri and Z. Tmar, Unknown input observer for state affine systems: A necessary and sufficient condition, Automatica, vol.46, issue.2, pp.271-278, 2010.
DOI : 10.1016/j.automatica.2009.11.004
URL : https://hal.archives-ouvertes.fr/hal-00433551

R. Hermann and A. J. Krener, Nonlinear Controllability and Observability, Transaction On Automatic Control, pp.22-728, 1977.

J. A. Hesch, D. G. Kottas, S. L. Bowman, and S. I. Roumeliotis, Towards consistent visionaided inertial navigation, Int. Workshop on the Algorithmic Foundations of Robotics, 2012.

M. Hou and P. , Müller Design of observers for linear systems with unknown inputs, IEEE Transactions on Automatic Control, vol.37, issue.6, 1992.

A. Isidori, Nonlinear Control Systems, 1995.

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, pp.407-430, 2011.
DOI : 10.1007/s11263-006-0025-9

J. Kelly and G. Sukhatme, Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration, The International Journal of Robotics Research, vol.10, issue.2, pp.56-79, 2011.
DOI : 10.1177/0278364910382802

D. Koenig and S. Mammar, Design of a class of reduced order unknown inputs nonlinear observer for fault diagnosis, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), 2001.
DOI : 10.1109/ACC.2001.946064
URL : https://hal.archives-ouvertes.fr/hal-00232860

D. Koening, B. Marx, and D. , Jacquet Unknown input observers for switched nonlinear discrete time descriptor system, IEEE Transactions on Automatic Control, vol.53, issue.1, 2008.

D. G. Kottas, J. A. Hesch, S. L. Bowman, and S. I. Roumeliotis, On the Consistency of Vision-Aided Inertial Navigation, Proc. of the Int. Symposium on Experimental Robotics, Canada, 2012.
DOI : 10.1007/978-3-319-00065-7_22

M. Li and A. I. Mourikis, Improving the accuracy of EKF-based visualinertial odometry, 2012.

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, 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. Martinelli, Visual-inertial structure from motion: Observability and resolvability, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI : 10.1109/IROS.2013.6696963
URL : https://hal.archives-ouvertes.fr/hal-00905890

A. Martinelli, Closed-Form Solution of Visual-Inertial Structure from Motion, International Journal of Computer Vision, vol.26, issue.6, pp.138-152, 2014.
DOI : 10.1007/s11263-013-0647-7
URL : https://hal.archives-ouvertes.fr/hal-00905881

A. Martinelli, Visual-inertial structure from motion: Observability vs minimum number of sensors, 2014 IEEE International Conference on Robotics and Automation (ICRA)
DOI : 10.1109/ICRA.2014.6906979
URL : https://hal.archives-ouvertes.fr/hal-00962228

A. Martinelli, Observability Properties and Deterministic Algorithms in Visual- Inertial Structure from Motion, Foundations and Trends in Robotics, pp.139-209, 2014.

A. Martinelli, Extension of the observability rank condition to nonlinear systems driven by unknown inputs, 2015 23rd Mediterranean Conference on Control and Automation (MED), 2015.
DOI : 10.1109/MED.2015.7158811
URL : https://hal.archives-ouvertes.fr/hal-01248783

A. Martinelli, Nonlinear Unknown Input Observability: Analytical expression of the observable codistribution in the case of a single unknown input, The SIAM Conference on Control and Its Applications (CT15), 2015.
DOI : 10.1137/1.9781611974072.2
URL : https://hal.archives-ouvertes.fr/hal-01248792

F. M. Mirzaei and S. I. Roumeliotis, A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation, IEEE Transactions on Robotics, vol.24, issue.5, pp.1143-1156, 2008.
DOI : 10.1109/TRO.2008.2004486

D. Strelow and S. Singh, Motion Estimation from Image and Inertial Measurements, The International Journal of Robotics Research, vol.23, issue.12, 2004.
DOI : 10.1177/0278364904045593

S. H. Wang, E. J. Davison, and P. , Dorato Observing the states of systems with unmeasurable disturbance, IEEE Transactions on Automatic Control, p.20, 1975.

S. Weiss, Vision Based Navigation for Micro Helicopters, Diss. ETH No, 20305.

F. Yang and R. W. , Wilde Observer for linear systems with unknown inputs, IEEE Transactions on Automatic Control, vol.33, issue.7, 1988.