Error analysis and attitude observability of a monocular GPS/visual odometry integrated navigation filter

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@article{Dusha2012ErrorAA, title={Error analysis and attitude observability of a monocular GPS/visual odometry integrated navigation filter}, author={Damien Dusha and Luis Mej{\'i}as Alvarez}, journal={I. J. Robotics Res.}, year={2012}, volume={31}, pages={714-737} }