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...

Tracking

There's been a lot of progress on the tracking and temporal models chapter. There's now a reasonable description of the Kalman filter, the extended Kalman filter and the unscented Kalman filter. I'm working on the section on particle filters tomorrow.

Update

Working on the first draft of the text for the chapter on tracking. There should be something worth reading in a couple of weeks. In the mean time, I've corrected a lot of mistakes in the first eight chapters, fixed some of the early figures so they are up to the standard of the later ones and added some questions to the end of the early chapters.