1) Implement Question 1c and 1d of the exam - will be a motivation for the need for extended Kalman filtering (EKF) and particle filtering

2) Consider the Structure from Motion equations for perspective projection that use Optical Flow (OF) as the "observations". Define an EKF algorithm for estimating structure (depth of K points for which OF is given) and motion (3 translation and rotation velocities). Assume a constant velocity model.

**Bonus:** Also implement the algorithm on the image
sequences for which you estimated OF in Homework 1.

**Bonus 2:** How would you implement the same using a
particle filter?