Reca Scalar functions Let f: R"-I be a function of n variables denoted by 1, 2,..., n Let a =(a1, 2, ., Cn). We present first order and second order Taylor expansions of the function f(r), without providing convergence results Let a=(an, 02, .,an)ER. The linear Taylor expansion of the function )around the point a f(a)≈fa)+∑( 05(o) ai)aci (5.25) Pose estimation vo.aRecall • Pose estimation V0.a 12