Robust Nonlinear Fusion of Inertial and Visual Data for position, velocity and attitude estimation of UAV. - Thibault Cheviron; Tarek Hamel; Robert E. Mahony; Grant Baldwin (ICRA, 2007)

A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements. - Grant Baldwin; Robert E. Mahony; Jochen Trumpf (ICRA, 2009)