Extended Kalman Filtering - Imaging, Robotics, and Intelligent ...

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J. S. Goddard and M. A. Abidi, "Pose and Motion Estimation using Dual Quaternion-Based Extended Kalman Filtering," Proc. of SPIE Conf. on Three-Dimensional Image Capture and Applications, Vol. 3313, pp. 189-200, San Jose, CA, January 1998.