Paper to read

M. Li, A.I. Mourikis, “3-D Motion Estimation and Online Temporal Calibration for Camera-IMU Systems'' Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10 2013, pp. 5689-5696.

http://www.ee.ucr.edu/~mourikis/papers/Li2013ICRA.pdf