\bi{Meas. Model}: $\vec{z} = \vec{h}(\vec{x}) + \vec{v} + \vec{o}$, with $\vec{h}(\vec{x})$ deterministic mean, 
$\vec{v}$ zero-mean noise, $\vec{o}$ unmodelled effects, $\vec{x}$ true state

\bi{Motor encoders} Typ. 64-2048 incrm. per rev; Estim. rot

\bi{Rolling-Shutter} Most CMOS sensors don't take full image at once, need time stamp for each row