The motor extended Kalman filter for dynamic rigid motion estimation from line observations
@InCollection{zhang01book,
  author = 	 {Y. Zhang and G. Sommer and E. Bayro-Corrochano},
  booktitle = 	 {Geometric Computing with Clifford Algebra},
  title = 	 {The motor extended {K}alman filter for dynamic rigid motion estimation from line observations},
  publisher = 	 {Springer-Verlag, Heidelberg},
  year = 	 2001,
  editor =	 {G. Sommer},
  pages =        {501-530}
}