Bayoud, FadiSkaloud, Jan2008-05-262008-05-262008-05-26200810.1515/JAG.2008.005https://infoscience.epfl.ch/handle/20.500.14299/25924A mapping system by vision-aided inertial navigation was developed for areas where GNSS signals are unreachable. In this framework, a methodology on the integration of vision and inertial sensors is presented, analysed and tested. The system employs the method of "SLAM: Simultaneous Localisation And MappingW where the only external input available to the system at the beginning of the mapping mission is a number of features with known coordinates.Inertial systemphotogrammetrynavigationrobotic/mobile mapping systemtopomapptext::journal::journal article::research article