... way3.1
So long as ${\bf x}$ and ${\bf y}$ are ordered so that the size of ${\bf x}$ is less than or equal to the size of ${\bf y}$.
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... image5.1
In practice the centre of distortion will be somewhat different from the image centre [13].
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... factor5.2
In fact only eleven equations are required.
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... error5.3
The innovation $\mbox{\boldmath $\nu$}$ is the observation error relative to that computed from the estimated state: $\mbox{\boldmath $\nu$}= {\bf z}- {\bf h}(\hat{\bf x})$.
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