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This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems. Asymptotic stability of the observer estimates is proved as well as bounded energy of the observer errordoi:10.1109/robot.2007.363617 dblp:conf/icra/ChevironHMB07 fatcat:txffgefaorhwroomtpf5qi4bau