Writing a Creative Commons licenced book on Kalman and Bayes filters, along with supporting software. It's been slow going the last few weeks as I have taken time to teach a class on it at work. The working premise is that you can get a long way without heavy duty math; you won't send a rocket to Mars w/o mastering all of the relevant math, but you sure can write a filter for your hobby robot, arduino project, computer vision tracker, and what have you.
