Statistical Optimization for Geometric Computation: Theory and Practice Kenichi Kanatani

This text for graduate students discusses the mathematical foundations of statistical inference for building three-dimensional models from image and sensor data that contain noise — a task involving autonomous robots guided by video cameras and sensors. The text employs a theoretical accuracy for the optimization procedure, which maximizes the reliability of estimations based on noise data. 1996 edition. Это и многое другое вы найдете в книге Statistical Optimization for Geometric Computation: Theory and Practice (Kenichi Kanatani)