Extended Kalman Filter for Motion Parameter Estimation in 1D, 2D, and 3D Spatial Degrees of Freedom

Implementation of Extended Kalman Filter algorithms for motion parameter estimation across 1D, 2D, and 3D spatial degrees of freedom, specifically realized from the 2008 IROS paper "Visual SLAM for 3D Large-Scale Seabed Acquisition Employing Underwater Vehicles". The implementation features state transition matrices, observation models, and covariance propagation suitable for underwater vehicle navigation.