Extended Kalman filter design for motion estimation by point and line observations
@InProceedings{zhang00afpac,
  author = 	 {Y. Zhang and B. Rosenhahn and G. Sommer},
  title = 	 {Extended Kalman filter design for motion estimation by point and line observations},
  booktitle = 	 {2nd International Workshop on Algebraic Frames for the Perception-Action Cycle, AFPAC 2000, Kiel},
  year =	 2000,
  pages =        {339-348},
  publisher =    {Springer-Verlag},
  editor =       {G. Sommer and Y. Zeevi},
  series =       {LNCS},
  volume =       {1888}
}