@article{publication-13323, author={Kaiser, Jacques and Martinelli, Agostino and Fontana, Flavio and Scaramuzza, Davide}, doi={10.1109/LRA.2016.2521413}, issn={2377-3766}, journal={IEEE Robotics and Automation Letters}, number=1, pages={18-25}, publisher={Institute of Electrical and Electronics Engineers}, title={Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation}, volume=2, year=2017, }