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I thank my parents for their constant love and support, and for giving me the opportunity to attend MIT.

Thanks to Tony Jebara and Prof. Sandy Pentland for supervising this work.

I am deeply indebted and offer sincere thanks to Tom Minka, for his unfailing help and advice, for helping me to understand the optimal linear estimator, for showing me how to appreciate the research process, for reviewing this document, and in general for being the world's most patient mentor.

Kenneth B Russell
Mon May 5 14:33:03 EDT 1997