[NWoodsman]

You might like this thesis:

http://www.bloechle.ch/jean-luc/pub/Bloechle_Thesis.pdf

I made a HN post on this here: https://news.ycombinator.com/item?id=33674525

Unfortunately I contacted the author via youtube and the work is proprietary, owned by the business he either created or sold-to.

[n0rlant1s]

Thanks for sharing -- will dive deeper. This has been keeping me up at night recently...