@article {ruiz2000model, title = {Model-based stereo-visual tracking: Covariance analysis and tracking schemes}, journal = {Signal Processing}, volume = {80}, number = {1}, year = {2000}, pages = {23{\textendash}43}, publisher = {Elsevier}, author = {Juan Ruiz-Alzola and Carlos Alberola-Lopez and Corredera, Jose-Ram{\'o}n Casar} }