M. Achtelik, . Bachrach, . Abraham, . He, . Ruijie et al., Autonomous navigation and exploration of a quadrotor helicopter in GPS-denied indoor environments, First symposium on indoor flight, 2009.

M. Achtelik, . Weiss, . Stephan, and R. Siegwart, Onboard imu and monocular vision based control for mavs in unknown in-and outdoor environments . Pages 3056?3063 of : Robotics and automation (icra), ieee international conference on, 2011.

I. Ahmad, A. Hadri, and A. Benallegue, Estimation of bounded unknown input and its application to attitude estimation for accelerated rigid body using GPS/INS measurements, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012.
DOI : 10.1109/ROBIO.2012.6491301

C. Akinlar and C. Topal, Edlines : Real-time line segment detection by edge drawing (ed) Pages 2837?2840 of : Image processing (icip), 18th ieee international conference on, 2011.

N. Andreff, B. Espiau, and R. Horaud, Visual servoing from lines, Pages 2070?2075 of : International conference on robotics and automation, 2000.
URL : https://hal.archives-ouvertes.fr/inria-00072393

N. Ayache and F. Lustman, Trinocular stereo vision for robotics Ieee transactions on pattern analysis and machine intelligence, pp.73-85, 1991.

J. Barron and N. Thacker, Tutorial : Computing 2d and 3d optical flow. Imaging science and biomedical engineering division, medical school, university of manchester, 2005.

A. Bartoli and P. Sturm, Structure-from-motion using lines: Representation, triangulation, and bundle adjustment, Computer Vision and Image Understanding, vol.100, issue.3, pp.416-441, 2005.
DOI : 10.1016/j.cviu.2005.06.001
URL : https://hal.archives-ouvertes.fr/hal-00092589

P. Batista, C. Silvestre, and P. Oliveira, Sensor-based globally asymptotically stable filters for attitute estimation : Analysis, design and performance evaluation, Ieee transactions on automatic control, issue.8, pp.57-2095, 2012.

S. S. Beauchemin and J. L. Barron, The computation of optical flow, ACM Computing Surveys, vol.27, issue.3, pp.433-467, 1995.
DOI : 10.1145/212094.212141

L. Benziane, A. Benallegue, and A. Hadri, A globally asymptotically attitude estimation using complementary filtering, 2012 ieee international conference on robotics and biomimetics, p.2012, 2012.

M. J. Black and P. Anandan, A framework for the robust estimation of optical flow. Pages 231?236 of : Computer vision, 1993. proceedings, fourth international conference on, 1993.

S. Bonnabel, P. Martin, and E. Salaun, Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009.
DOI : 10.1109/CDC.2009.5400372
URL : https://hal.archives-ouvertes.fr/hal-00494342

J. Bouguet, Pyramidal implementation of the lucas-kanade feature tracker. Intel corporation, 1999.

J. Bouguet, Pyramidal implementation of the affine lucas kanade feature tracker description of the algorithm. Intel corporation, 2001.

G. Bradski and A. Kaehler, Learning opencv : Computer vision with the opencv library, 2008.

S. Bras, R. Cunha, J. F. Vasconcelos, C. Silvestre, and P. Oliveira, A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements, IEEE Transactions on Robotics, vol.27, issue.4, pp.664-677, 2011.
DOI : 10.1109/TRO.2011.2112950

G. Burel, Introduction au traitement des images, 2001.

B. Burns, . Brian, A. R. Hanson, . Riseman, and M. Edward, Extracting straight lines. Pattern analysis and machine intelligence, ieee transactions on, pp.425-455, 1986.

J. Canny, A computational approach to edge detection. Pattern analysis and machine intelligence, ieee transactions on, pp.679-698, 1986.

A. Chehikian, P. Stelmaszyk, and S. De-paoli, Hardware evaluation process for tracking edge-lines. Pages 332?336 of : Industrial applications of machine intelligence and vision, 1989.

. Chowdhary, . Girish, E. N. Johnson, . Magree, . Daniel et al., GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft, Journal of Field Robotics, vol.10, issue.6, pp.415-438, 2013.
DOI : 10.1002/rob.21454

C. Cohen, Attitude determination using gps, 1992.

. Corke, . Peter, J. Lobo, and J. Dias, An introduction to inertial and visual sensing. The international journal of robotics research, pp.519-535, 2007.

J. L. Crassidis and &. F. Markley, Unscented Filtering for Spacecraft Attitude Estimation, Journal of Guidance, Control, and Dynamics, vol.26, issue.4, pp.536-542, 2003.
DOI : 10.2514/2.5102

J. L. Crassidis, F. L. Markley, and F. Cheng, Survey of Nonlinear Attitude Estimation Methods, Journal of Guidance, Control, and Dynamics, vol.30, issue.1, pp.12-28, 2007.
DOI : 10.2514/1.22452

J. L. Crassidis, . Junkins, and L. John, Optimal estimation of dynamic systems, 2011.
DOI : 10.1201/9780203509128

J. L. Crowley, . Stelmaszyk, . Patrick, . Skordas, . Thomas et al., Measurement and integration of 3-D structures by tracking edge lines, International Journal of Computer Vision, vol.30, issue.1, pp.29-52, 1992.
DOI : 10.1007/BF00126399

E. V. Cuevas, Kalman filter for vision tracking, 2005.

R. Deriche and O. Faugeras, Tracking line segments. Pages 259?268 of : Computer vision eccv 90, 1990.

A. Desolneux, . Moisan, . Lionel, and J. Morel, Meaningful alignments, International Journal of Computer Vision, vol.40, issue.1, pp.7-23, 2000.
DOI : 10.1023/A:1026593302236

B. Desolneux, . Agnès, . Moisan, . Lionel, and J. Morel, Edge detection by helmholtz principle, Journal of Mathematical Imaging and Vision, vol.14, issue.3, pp.271-284, 2001.
DOI : 10.1023/A:1011290230196
URL : https://hal.archives-ouvertes.fr/hal-00170793

A. Desolneux, . Moisan, . Lionel, and J. Morel, From gestalt theory to image analysis : a probabilistic approach, 2007.
DOI : 10.1007/978-0-387-74378-3
URL : https://hal.archives-ouvertes.fr/hal-00259077

E. Hadri, A. Benallegue, and A. , Attitude estimation with gyros-bias compensation using low-cost sensors, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009.
DOI : 10.1109/CDC.2009.5400357

O. Faugeras, On the motion of 3D curves and its relationship to optical flow, 1990.
DOI : 10.1007/BFb0014856

L. A. Fernandes, . Oliveira, and M. Manuel, Real-time line detection through an improved Hough transform voting scheme, Pattern Recognition, vol.41, issue.1, pp.299-314, 2008.
DOI : 10.1016/j.patcog.2007.04.003

D. Floreano, . Zufferey, . Jean-christophe, . Srinivasan, V. Mandyam et al., Flying insects and robots, In : Fumiya iida artificial life, vol.18, 2011.
DOI : 10.1007/978-3-540-89393-6

N. Franceschini, F. Ruffier, and J. Serres, A Bio-Inspired Flying Robot Sheds Light on Insect Piloting Abilities, Current Biology, vol.17, issue.4, 2007.
DOI : 10.1016/j.cub.2006.12.032

J. Groß, . Trenkler, . Götz, . Troschke, and . Sven-oliver, Quaternions : further contributions to a matrix oriented approach. Linear algebra and its applications, pp.205-213, 2001.

H. Hadj-abdelkader, Y. Mezouar, N. Andreff, and P. Martinet, Omnidirectional visual servoing from polar lines. Pages 2385 ?2390 of : Robotics and automation, ieee international conference on, 2006.
URL : https://hal.archives-ouvertes.fr/hal-00100519

C. G. Harris and M. Stephens, A Combined Corner and Edge Detector, Procedings of the Alvey Vision Conference 1988, pp.147-151, 1988.
DOI : 10.5244/C.2.23

P. E. Hart, How the hough transform was invented [dsp history]. Signal processing magazine, pp.18-22, 2009.

B. Herisse, S. Oustrieres, T. Hamel, R. Mahonny, . Russoto et al., A general optical flow based terrain-following strategy for a VTOL UAV using multiple views, 2010 IEEE International Conference on Robotics and Automation, 2010.
DOI : 10.1109/ROBOT.2010.5509536

B. K. Horn, E. J. Jr, and . Weldon, Direct methods for recovering motion, International Journal of Computer Vision, vol.208, issue.3, pp.51-76, 1988.
DOI : 10.1007/BF00836281

B. K. Horn and B. G. Shunck, Determining optical flow, Artificial Intelligence, vol.17, issue.1-3, pp.185-203, 1981.
DOI : 10.1016/0004-3702(81)90024-2

M. Hua, Attitude estimation for accelerated vehicles using GPS/INS measurements, Control Engineering Practice, vol.18, issue.7, pp.732-732, 2010.
DOI : 10.1016/j.conengprac.2010.01.016

T. S. Huang and A. N. Netravali, Motion and structure from feature correspondences : a review, Proceedings of the ieee, pp.252-268, 1994.

J. Illingworth and J. Kittler, A survey of the hough transform . Computer vision, graphics, and image processing, pp.87-116, 1988.

M. Jankovic, . Ghosh, and K. Bijoy, Visually guided ranging from observations of points, lines and curves via an identifier based nonlinear observer. Pages 63?73 of : System and control letters, 1995.

. Jiahui-shi, Real-time ego-motion measurement with stereo camera & imu, 2010.

J. J. Kehoe, A. S. Watkins, R. S. Causey, and R. Lind, State Estimation Using Optical Flow from Parallax-Weighted Feature Tracking, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2006.
DOI : 10.2514/6.2006-6721

F. Kendoul, D. Lara, I. Fantoni, and R. Lozano, Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter, Journal of Guidance, Control, and Dynamics, vol.30, issue.4, pp.1049-1061, 2007.
DOI : 10.2514/1.27882
URL : https://hal.archives-ouvertes.fr/hal-00449904

. Kendoul, . Farid, . Nonami, . Kenzo, I. Fantoni et al., An adaptive vision-based autopilot for mini flying machines guidance, navigation and control, Autonomous Robots, vol.22, issue.1, pp.165-188, 2009.
DOI : 10.1007/s10514-009-9135-x
URL : https://hal.archives-ouvertes.fr/hal-00445648

. Kendoul, . Farid, I. Fantoni, and K. Nonami, Optic flowbased vision system for autonomous 3d localization and control of small aerial vehicles, Robotics and autonomous systems, vol.57, pp.6-7, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00445972

C. Kessler, . Ascher, . Christian, . Frietsch, . Natalie et al., Vision-based attitude estimation for indoor navigation using vanishing points and lines. Page 310?318 of : Position location and navigation symposium (PLANS), IEEE, 2010.
DOI : 10.1109/plans.2010.5507247

L. Kitchen and A. Rosenfeld, Gray-level corner detection. Pattern recogn. lett, pp.95-102, 1982.
DOI : 10.1016/0167-8655(82)90020-4

B. Laurent and G. J. , Mise en pratique de lspi pour la commande linéaire quadratique adaptative d'une surface de manipulation à coussin d'air actif. Pages 12?pages of : 5èmes journées francophones sur la planification, la décision et l'apprentissage pour la conduite de systèmes, 2010.

B. D. Lucas and T. Kanade, An iterative image registration technique with an application to stereo vision, international joint conference of artificial intelligence, 1981.

D. G. Luenberger, Observing the State of a Linear System, Military electronics, ieee transactions on, pp.74-80, 1964.
DOI : 10.1109/TME.1964.4323124

D. G. Luenberger, Observers for multivariable systems, IEEE Transactions on Automatic Control, vol.11, issue.2, pp.190-197, 1966.
DOI : 10.1109/TAC.1966.1098323

R. Mahony, T. Hamel, and &. Pflimlin, Nonlinear Complementary Filters on the Special Orthogonal Group, IEEE Transactions on Automatic Control, vol.53, issue.5, pp.5-1203, 2008.
DOI : 10.1109/TAC.2008.923738
URL : https://hal.archives-ouvertes.fr/hal-00488376

A. Makadia and K. Daniilidis, Correspondenceless ego-motion estimation using an imu. Pages 3534?3539 of : Robotics and automation, icra 2005. proceedings of the 2005 ieee international conference on, 2005.
DOI : 10.1109/robot.2005.1570657
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.121.93

F. L. Markley, Quaternion attitude estimation using vector observations, Journal of gui, vol.4, issue.1, pp.70-77, 1981.

P. Martin and E. Salaun, Design and implementation of a low-cost observer-based attitude and heading reference system, Control Engineering Practice, vol.18, issue.7, pp.712-722, 2010.
DOI : 10.1016/j.conengprac.2010.01.012
URL : https://hal.archives-ouvertes.fr/hal-00494325

J. Marzat, . Dumortier, . Yann, and A. Ducrot, Real-time dense and accurate parallel optical flow using cuda, 2009.
URL : https://hal.archives-ouvertes.fr/inria-00346710

J. Matas, C. Galambos, and J. Kittler, Robust Detection of Lines Using the Progressive Probabilistic Hough Transform, Computer Vision and Image Understanding, vol.78, issue.1, pp.119-137, 2000.
DOI : 10.1006/cviu.1999.0831

A. Matveev, . Hu, . Xiaoming, . Frezza, . Ruggero et al., Observers for systems with implicit output, IEEE Transactions on Automatic Control, vol.45, issue.1, pp.168-173, 2000.
DOI : 10.1109/9.827378

C. Mccarthy and N. Barnes, Performance of optical flow techniques for indoor navigation with a mobile robot, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004.
DOI : 10.1109/ROBOT.2004.1302525

M. , C. Malis, and E. , Fast central catadioptric line extraction, estimation , tracking and structure from motion In : Intelligent robots and systems, 2006.

F. Mokhtarian and R. Suomela, Robust image corner detection through curvature scale space. Pattern analysis and machine intelligence, ieee transactions on, pp.1376-1381, 1998.
DOI : 10.1007/978-94-017-0343-7_7
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.505.1439

H. P. Moravec, Obstacle avoidance and navigation in the real world by a seeing robot rover, 1980.

M. Grajales, . Rafael, . Nadri, . Madiha, and H. Hammouri, Observer design for implicit state affine systems up to output injection, Pages 697?702 of : World congress, 2011.

N. Navab and Z. Zhang, Fusion of visual data through dynamic stereo-motion cooperation. International archives of photogrammetry and remote sensing, pp.932-932, 1993.

. Navab, . Nassir, . Deriche, . Rachid, . Faugeras et al., Recovering 3d motion and structure from stereo and 2d token tracking cooperation . Pages 513?516 of : Computer vision, 1990.
DOI : 10.1109/iccv.1990.139584

. Neubert, . Peer, . Protzel, . Peter, T. Vidal-calleja et al., A fast visual line segment tracker. Pages 353?360 of : Emerging technologies and factory automation, 2008.
DOI : 10.1109/etfa.2008.4638418
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.413.4120

J. Palomares, Une nouvelle methode d'appariement de points d'interet pour la mise en correspondance d'images, II-Sciences et Techniques du Languedoc, 2012.
URL : https://hal.archives-ouvertes.fr/tel-00786054

H. Rehbinder, . Ghosh, and K. Bijoy, Pose estimation using line-based dynamic vision and inertial sensors, IEEE Transactions on Automatic Control, vol.48, issue.2, pp.186-199, 2003.
DOI : 10.1109/TAC.2002.808464

A. Roberts and A. Tayebi, A new position control strategy for vtol uavs using imu and gps measurements, 2012.

S. S. Rodrigues, . Crasta, . Naveena, A. Aguiar, . Pedro et al., State estimation for systems on SE(3) with implicit outputs: An application to visual servoing*, Proceedings of nolcos, 2010.
DOI : 10.3182/20100901-3-IT-2016.00239

. Bibliographie-rosten, . Edward, and T. Drummond, Fusing points and lines for high performance tracking, Computer vision, 2005. iccv 2005. tenth ieee international conference on, 2005.

E. Rosten and T. Drummond, Machine learning for high-speed corner detection. Pages 430?443 of : Computer vision?eccv, 2006.

A. Seba, A. Hadri, L. Benziane, and A. Benallegue, Multiplicative extended kalman filter based on visual data for attitude estimation. Icra14 workshop on modelling, estimation, perception and control of all terrain mobile robots, pp.hong-kong, 2014.

J. Shi and C. Tomasi, Good features to track. Pages 593?600 of : Computer vision and pattern recognition, 1994. proceedings cvpr'94, ieee computer society conference on, 1994.

M. Shuster, M. D. Oh, and S. D. , Three-axis attitude determination from vector observations, Journal of Guidance, Control, and Dynamics, vol.4, issue.1, pp.70-77, 1981.
DOI : 10.2514/3.19717

M. D. Shuster, Approximate algorithms for fast optimal attitude computation, Guidance and Control Conference, 1978.
DOI : 10.2514/6.1978-1249

M. D. Shuster, Maximum likelihood estimation of spacecraft attitude, Jounral of austronautical sciences, vol.37, issue.1, pp.79-88, 1989.

S. Smith, A new class of corner finder. Pages 139?148 of : Bmvc92, 1992.

K. Sundararajan, Unified point-edgelet feature tracking, 2011.

A. Tayebi, A. Roberts, and A. Benallegue, Inertial measurements based dynamic attitude estimation and velocity-free attitude stabilization. Pages 1027?1032 of : American control conference on o'farrell street, 2011.
DOI : 10.1109/acc.2011.5990812

P. Tissainayagam and D. Suter, Assessing the performance of corner detectors for point feature tracking applications, Image and Vision Computing, vol.22, issue.8, pp.663-679, 2004.
DOI : 10.1016/j.imavis.2004.02.001

C. Tomasi, . Kanade, and . Takeo, Detection and tracking of point features, 1991.

G. Toscani, . Deriche, . Rachid, . Faugeras, and D. Olivier, 3d motion estimation using a token tracker, 1988.

B. Tuytelaars, . Tinne, . Mikolajczyk, and . Krystian, Local invariant feature detectors : a survey. Foundations and trends® in computer graphics and vision, pp.177-280, 2008.
DOI : 10.1561/0600000017
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.377.3635

T. Vieville, Estimation of 3d-motion and structure from tracking 2d-lines in a sequence of images. Page 281?291 of : Computer vision?ECCV 90, 1990.

R. Von-gioi, . Grompone, . Jakubowicz, . Jérémie, . Morel et al., Lsd : a line segment detector, 2010.

R. Von-gioi, . Grompone, . Jakubowicz, . Jérémie, . Morel et al., Lsd : a line segment detector, 2010.

G. Wahba, A least squares estimate of satellite attitude. Siam review, pp.384-386, 1966.

Y. Wu, . Hu, . Dewen, . Wu, . Meiping et al., Observability analysis of rotation estimation by fusing inertial and linebased visual information : A revisit, Automatica, issue.10, pp.42-1809, 2006.