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A hybrid Kalman filter based algorithm for real-time visual..:

Einhorn, Erik ; Schröter, Christof ; Böhme, Hans-Joachim.
Computer science meets automation -- 978-3-939473-17-6 -- http://uri.gbv.de/document/gvk:ppn:543893375.  , 2007
Link: https://www.db-thueringen.de/receive/dbt_mods_00008903