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