• caption of fig 3.1: "hand side of(3.2)" => "hand side of (3.2)" (add a space)

Page 151

• the second equation is missing the equation number. Also, sigma^2 doesn't appear in this equation, but appears in Fig 3.5, which is a bit confusing.

Page 152

• last equation is missing the equation number.

Page 154

• Fig 3.8: the words "object", "position" and "orientation" are missing some letters (not sure if our printer is at fault)