Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM. - Gabriel Nützi; Stephan Weiss 002; Davide Scaramuzza 001; Roland Siegwart (J. Intell. Robotic Syst., 2011)

A Primer on the Differential Calculus of 3D Orientations. - Michael Bloesch; Hannes Sommer; Tristan Laidlow; Michael Burri; Gabriel Nützi; Peter Fankhauser; Dario Bellicoso; Christian Gehring; Stefan Leutenegger; Marco Hutter 001; Roland Siegwart (CoRR, 2016)