Single camera based motion and shape estimation using extended Kalman filtering. Kano, H., Ghosh, B. K., & Kanai, H. Math. Comput. Modell., 34:511–525, 2001.
bibtex   
@Article{SCC.Kano.Ghosh.ea2001,
  author    = {Kano, H. and Ghosh, B. K. and Kanai, H.},
  title     = {Single camera based motion and shape estimation using extended {K}alman filtering},
  journal   = {Math. Comput. Modell.},
  year      = {2001},
  volume    = {34},
  pages     = {511--525},
  owner     = {ashwin},
  timestamp = {2009.05.11},
}

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