Myinterestinstateestimationstemsfromthefieldofmobilerobotics,particularlyforspaceexploration.Withinmobilerobotics,therehasbeenanexplosionofresearchreferredtoasprobabilisticrobotics.Withcomputingresourcesbecomingveryinexpensive,andtheadventofrichnewsensingtechnologies,suchasdigitalcamer