Interesting. I'd like to ask a few questions for future reference on pedagogy :). Was there anything aside from the derivation of the update equations for Kalm

Interesting. I'd like to ask a few questions for future reference on pedagogy :). Was there anything aside from the derivation of the update equations for Kalman Filters you felt wasn't covered too well? What did you feel that you got from the book [and which book did you use?] that you felt wasn't covered in class?