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In this paper a method for the on-line absolutescale velocity estimation of a system composed of a single camera and of an inertial measurement unit is presented. The proposed formulation makes use of spherical image measurements acquired from at least three camera positions and inertial measurements to estimate the system velocity by solving also the absolute scale problem. A new multi-rate formulation based on a sliding least-squares estimation formulation is proposed, which is capable ofdoi:10.1109/med.2013.6608881 dblp:conf/med/LippielloM13 fatcat:qr6vta4n4jgyblbbazpjuoxco4