@inproceedings{troiani:hal-00743327, TITLE = {{Vision-Aided Inertial Navigation Using Virtual Features}}, AUTHOR = {Troiani, Chiara and Martinelli, Agostino}, URL = {https://hal.archives-ouvertes.fr/hal-00743327}, BOOKTITLE = {{Iros 2012}}, ADDRESS = {Portugal}, PAGES = {4828--4834}, YEAR = {2012}, MONTH = Oct, HAL_ID = {hal-00743327}, HAL_VERSION = {v2}, }