Another update

Since last time - did some more work on the tracking chapter although it isn't finished and no doubt full of errors. I've sorted out a bunch of mistakes in the first 8 chapters. I've started working on the geometry chapter - trying to do geometry without homogeneous coordinates (which are beautiful, but I think unnecessary). We'll see how it works out - don't see the point in writing a poor-man's version of Hartley and Zisserman anyway. I've also put in (invisible) hyperlinks so you can nip around the document faster...