Homework 4 (Last Homework - finish anytime before Dec 7)<p class="MsoNormal">1)&nbsp; 
Implement Question 1c and 1d of the exam -&nbsp; will be a motivation for the 
need for extended Kalman filtering (EKF) and particle filtering</p>
<p class="MsoNormal">2)&nbsp; Consider the Structure from Motion equations for 
perspective projection that&nbsp; use Optical Flow (OF) as the &quot;observations&quot;. 
Define an EKF algorithm&nbsp; for estimating structure (depth of K points for 
which OF is given) and motion (3 translation and rotation velocities). Assume a 
constant velocity model. </p>
<p class="MsoNormal"><b>Bonus:</b> Also implement the algorithm on the image 
sequences for which you estimated OF in Homework 1.</p>
<p class="MsoNormal"><b>Bonus 2:</b> How would you implement the same using a 
particle filter?</p>
<p class="MsoNormal">&nbsp;</p>