...vector). 

Because of the signal processing origins of the Kalman filter, the confusion between 56#56 and x is somewhat unavoidable when used in a geometric context. Given the pervasive use of 56#56 as a state vector in the literature, the reader will have to keep the distinction clear throughout the remainder of this text.

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...vector. 

Although some authors use the term Bayesian to refer to techniques that use Baye's rule to calculate the probabilities of discrete events, the definition I use here refers to the subjective notion of probability as opposed to the frequency-based notion.

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...data. 

The authors used a training set consisting of 15 kidney cross sections.

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...energy. 

Some authors argue that all utility can be converted into monetary units [43, 44]. While this may be true in theory, in practice it is often simpler to deal directly with the units that are most appropriate for the problem at hand, rather than devise a scheme for converting utility to monetary units.

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...constants.

The authors have collected statistical data for these probability distributions for various geometric objects.

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...energy. 

Some authors argue that all utility can be converted into monetary units [43, 44]. While this may be true in theory, in practice it is often simpler to deal directly with the units that are most appropriate for the problem at hand, rather than devise a scheme for converting utility to monetary units.

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...constants.

The authors have collected statistical data for these probability distributions for various geometric objects.

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...atom

Normally, LISP will try to evaluate an atom if it appears by itself or if it is the first atom within a list or sublist. The quote mark is used in front of atoms and lists when it is necessary to suppress this evaluation. For instance, the atom a may contain the value (a b) in which case (atom 'a) true but (atom a) false. Note that this is a feature of LISP and not an inherent property of s-expressions.

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