\begin{eqnarray} bc^{est} & = & A \cdot c^{b} o^{corr} & = & o - bc^{est} K & = & B A^{T} (R + A B A^{T})^{-1} c^{a} & = & c^{b} + K ( o - (b + bc^{est})) \end{eqnarray}