• Thesis - haven't read, but maybe a good complete overview ('97).

Important principles to keep in mind.

• Minimum Fps - camera units need to capture at a minimum of 30fps.
• Use a 2nd reference - cameras aren't reliable. Run a 2nd loop (slower) with a model of the system and refer from that when the camera fails.
• Reduce the complexity - make sure objects are stationary, or restricted to certain planes/orientations.