The term Structure from Motion (SfM) was coined by the computer vision community to define the problem of estimating the three-dimensional structure of the scene and the motion from two-dimensional image sequences. This short book considers the same estimation problem but where the sensor suit is also composed of inertial sensors (accelerometers and gyroscopes). This problem is referred to as the Visual-Inertial Structure from Motion (VI-SfM). The VI-SfM problem has generated particular interest and has been investigated by both computer science and neuroscience. These sensors require no...