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![Cover for Rudolph Kulhavy · Recursive Nonlinear Estimation: A Geometric Approach - Lecture Notes in Control and Information Sciences (Paperback Book) [1996 edition] (1996)](https://imusic.b-cdn.net/images/item/original/634/9783540760634.jpg?rudolph-kulhavy-1996-recursive-nonlinear-estimation-a-geometric-approach-lecture-notes-in-control-and-information-sciences-paperback-book&class=scaled&v=1484080066)