The motor extended Kalman Filter: A geometric approach for rigid motion estimation
@Article{bayro002jmiv,
  author = 	 {E. Bayro-Corrochano and Y. Zhang},
  title = 	 {The motor extended Kalman Filter: A geometric approach for rigid motion estimation},
  journal = 	 {Journal of Mathematical Imaging and Vision},
  year = 	 2000,
  volume =	 13,
  pages =	 {205-228}
}