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  2. Bicycle Tracking Using Ellipse ExtractionTohid Ardeshiri, Fredrik…

    www-sigproc.eng.cam.ac.uk/foswiki/pub/Main/TA417Publications/ArdeshiriLGSF2011.pdf
    16 May 2011: n23(X X0)2 n23(Y Y0)2+(n1X n2Y n1X0 n2Y0)2 r2 = 0. (24). ... 4.24.8. 5.4. true trajectory of bicycle. EKF trajectory of bicycle. Figure 10.

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