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Summary: POSE AND MOTION ESTIMATION FROM VISION
USING DUAL QUATERNION-BASED EXTENDED
KALMAN FILTERING
A Dissertation
Presented for the
Doctor of Philosophy
Degree
The University of Tennessee, Knoxville
James Samuel Goddard, Jr.
December 1997
Copyright c 1997 by James Samuel Goddard, Jr.
All rights reserved
ii
ACKNOWLEDGEMENTS
I would like to thank my adviser, Dr. Mongi Abidi, whose continued encouragement
and guidance have enabled me to bring this extensive effort to a successful conclusion. In
addition, I would like to express gratitude to my committee members, Drs. Rajiv Dubey,
Walter Green, Michael Roberts, and Ross Whitaker for their extremely helpful assistance
and comments while completing my dissertation. Lastly, I would like to express special
appreciation to my wife and children for their support and patience during this long
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