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@article{Lupton12tro,
	author = {Lupton, Todd and Sukkarieh, Salah},
	date-added = {2021-09-27 17:38:56 -0400},
	date-modified = {2021-09-27 17:39:09 -0400},
	doi = {10.1109/TRO.2011.2170332},
	journal = {IEEE Transactions on Robotics},
	number = {1},
	pages = {61-76},
	title = {Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions},
	volume = {28},
	year = {2012},
	Bdsk-Url-1 = {https://doi.org/10.1109/TRO.2011.2170332}}

@inproceedings{Forster15rss,
	author = {Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza},
	booktitle = {Robotics: Science and Systems},
	date-added = {2021-09-26 20:44:41 -0400},
	date-modified = {2021-09-26 20:45:03 -0400},
	title = {IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation},
	year = {2015}}

@article{Iserles00an,
	author = {Iserles, Arieh and Munthe-Kaas, Hans Z and N{\o}rsett, Syvert P and Zanna, Antonella},
	journal = {Acta Numerica 2000},
	pages = {215--365},
	publisher = {Cambridge Univ Press},
	title = {Lie-group methods},
	volume = {9},
	year = {2000}}

@book{Murray94book,
	author = {Murray, Richard M and Li, Zexiang and Sastry, S Shankar and Sastry, S Shankara},
	publisher = {CRC press},
	title = {A mathematical introduction to robotic manipulation},
	year = {1994}}

@book{Spivak65book,
	author = {Spivak, Michael},
	publisher = {WA Benjamin New York},
	title = {Calculus on manifolds},
	volume = {1},
	year = {1965}}

@phdthesis{Nikolic16thesis,
  title={Characterisation, calibration, and design of visual-inertial sensor systems for robot navigation},
  author={Nikolic, Janosch},
  year={2016},
  school={ETH Zurich}
}

@book{Simon06book,
  title={Optimal state estimation: Kalman, H infinity, and nonlinear approaches},
  author={Simon, Dan},
  year={2006},
  publisher={John Wiley \& Sons}
}

@inproceedings{Trawny05report_IndirectKF,
  title={Indirect Kalman Filter for 3 D Attitude Estimation},
  author={Nikolas Trawny and Stergios I. Roumeliotis},
  year={2005}
}