Joachim Denzler Matthias Zobel Heinrich Niemann On Optimal Camera Parameter Selection in Kalman Filter Based Object Tracking. 17-25 2002 conf/dagm/2002 DAGM-Symposium http://link.springer.de/link/service/series/0558/bibs/2449/24490017.htm db/conf/dagm/dagm2002.html#DenzlerZN02