J. C. Bazin, C. Demonceaux, P. Vasseur, and I. S. Kweon, Motion estimation by decoupling rotation and translation in catadioptric vision, Special issue on Omnidirectional Vision, Camera Networks and Nonconventional Cameras, pp.254-273, 2010.
DOI : 10.1016/j.cviu.2009.04.006
URL : https://hal.archives-ouvertes.fr/hal-01205589

M. A. Fischler and R. C. Bolles, RANSAC random sampling concensus: A paradigm for model fitting with applications to image analysis and automated cartography, Communications of ACM, vol.26, pp.381-395, 1981.

F. Fraundorfer, P. Tanskanen, and M. Pollefeys, A Minimal Case Solution to the Calibrated Relative Pose Problem for the Case of Two Known Orientation Angles, Proc. 11th European Conference on Computer Vision, pp.1-14, 2010.
DOI : 10.1007/978-3-642-15561-1_20

A. Geiger, P. Lenz, and R. Urtasun, Are we ready for autonomous driving? The KITTI vision benchmark suite, 2012 IEEE Conference on Computer Vision and Pattern Recognition, 2012.
DOI : 10.1109/CVPR.2012.6248074

R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2000.
DOI : 10.1017/CBO9780511811685

M. Kalantari, A. Hashemi, F. Jung, and J. Guédon, A New Solution to the Relative Orientation Problem Using Only??3??Points and the Vertical Direction, Journal of Mathematical Imaging and Vision, vol.8, issue.1, pp.259-268, 2011.
DOI : 10.1007/BF01213637
URL : https://hal.archives-ouvertes.fr/hal-00632261

L. Kneip, M. Chli, and R. Siegwart, Robust Real-Time Visual Odometry with a Single Camera and an IMU, Procedings of the British Machine Vision Conference 2011, pp.1-11, 2011.
DOI : 10.5244/C.25.16

M. Gim-hee-lee, F. Pollefeys, and . Fraundorfer, Relative pose estimation for a multi-camera system with known vertical direction, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2014.

D. G. Lowe, Distinctive Image Features from Scale-Invariant Keypoints, International Journal of Computer Vision, vol.60, issue.2, pp.91-110, 2004.
DOI : 10.1023/B:VISI.0000029664.99615.94

O. Naroditsky, X. S. Zhou, J. Gallier, S. I. Roumeliotis, and K. Daniilidis, Two Efficient Solutions for Visual Odometry Using Directional Correspondence, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.34, issue.4, pp.818-824, 2012.
DOI : 10.1109/TPAMI.2011.226
URL : http://www.cis.upenn.edu/%7Ekostas/mypub.dir/oleg2012pami.pdf

D. Nistér, An efficient solution to the five-point relative pose problem, Proc. IEEE Conference on Computer Vision and Pattern Recognition, pp.195-202, 2003.

D. Ortin and J. Montiel, Indoor robot motion based on monocular images, Robotica, vol.19, issue.03, pp.331-342, 2001.
DOI : 10.1017/S0263574700003143

O. Saurer, P. Vasseur, R. Boutteau, C. Demonceaux, M. Pollefeys et al., Homography Based Egomotion Estimation with a Common Direction, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.39, issue.2, pp.327-341, 2017.
DOI : 10.1109/TPAMI.2016.2545663
URL : https://hal.archives-ouvertes.fr/hal-01466853

D. Scaramuzza and F. Fraundorfer, Visual odometry [tutorial] part1: The first 30 years and fundamentals. Robotics Automation Magazine, IEEE, vol.18, issue.4, pp.80-92, 2011.

D. Scaramuzza, F. Fraundorfer, and R. Siegwart, Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC, 2009 IEEE International Conference on Robotics and Automation, pp.1-7, 2009.
DOI : 10.1109/ROBOT.2009.5152255

S. Weiss and R. Siegwart, Real-time metric state estimation for modular vision-inertial systems, 2011 IEEE International Conference on Robotics and Automation, 2011.
DOI : 10.1109/ICRA.2011.5979982
URL : https://www.research-collection.ethz.ch/bitstream/20.500.11850/43138/1/eth-7665-01.pdf