S. Ahrens, D. Levine, G. Andrews, and J. P. How, Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments, 2009 IEEE International Conference on Robotics and Automation, 2009.
DOI : 10.1109/ROBOT.2009.5152680

M. Anguelova, Non linear Observability and Identifiability: General Theory and a Case Study of a Kinetic Model, 2004.

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

M. Bryson and S. Sukkarieh, Building a Robust Implementation of Bearing-only Inertial SLAM for a UAV, Journal of Field Robotics, vol.15, issue.1-2, pp.113-143, 2007.
DOI : 10.1002/rob.20178

H. and C. Longuet-higgins, A computer algorithm for reconstructing a scene from two projections, Nature, vol.293, p.133135, 1981.

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

A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, MonoSLAM: Real-Time Single Camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.29, issue.6, pp.1052-1067, 2007.
DOI : 10.1109/TPAMI.2007.1049

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.454.5419

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, pp.515-517, 2007.
DOI : 10.1177/0278364907079903

J. Folkesson and H. I. Christensen, SIFT Based Graphical SLAM on a Packbot, Field and Service Robotics, 2007.

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

R. I. Hartley, In defense of the eight-point algorithm, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.19, issue.6, p.580593, 1997.
DOI : 10.1109/34.601246

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

J. D. Hol, T. B. Schn, and F. Gustafsson, Modeling and Calibration of Inertial and Vision Sensors, The International Journal of Robotics Research, vol.22, issue.11, pp.2-3, 2010.
DOI : 10.1145/358669.358692

J. Kim and S. Sukkarieh, Real-time implementation of airborne inertial-SLAM, Robotics and Autonomous Systems, vol.55, issue.1, pp.62-71, 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

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.379.7850

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

T. Lupton and S. Sukkarieh, Removing scale biases and ambiguity from 6DoF monocular SLAM using inertial, 2008 IEEE International Conference on Robotics and Automation, 2008.
DOI : 10.1109/ROBOT.2008.4543778

A. Martinelli, Continuous Symmetries and Observability Properties in Autonomous Navigation, Internal Research Report
URL : https://hal.archives-ouvertes.fr/inria-00421233

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
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, accepted for presentation at ICRA, 2011.

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
DOI : 10.1109/TRO.2008.2004486

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

A. I. Mourikis, N. Trawny, S. I. Roumeliotis, A. Johnson, A. Ansar et al., Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing, IEEE Transactions on Robotics, vol.25, issue.2, pp.264-280
DOI : 10.1109/TRO.2009.2012342

D. Nistér, An efficient solution to the five-point relative pose problem, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.26, issue.6, pp.756-770, 2004.
DOI : 10.1109/TPAMI.2004.17

G. Quian, Q. Zheng, and R. Chellappa, Reduction of inherent ambiguities in structure from motion problem using inertial data, Proceedings 2000 International Conference on Image Processing (Cat. No.00CH37101), 2000.
DOI : 10.1109/ICIP.2000.900930

D. Scaramuzza, A. Martinelli, and R. Siegwart, A toolbox for easy calibrating omnidirectional cameras, IEEE International Conference on Inteligent Robots and Systems, 2006.

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

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

D. Zachariah and M. Jansson, Camera-aided inertial navigation using epipolar points, Proceedings of PLANS, 2010.

.. The-case-without-gravity, 24 7.1.1 Single Feature, p.25

.. The-case-with-gravity, 26 7.2.1 Single Feature 26 7.2.2 Single feature; exploiting additional information, p.29