Richard I. Hartley. Estimation of Relative Camera Positions for Uncalibrated Cameras. In Giulio Sandini, editor, Computer Vision - ECCV 92, Second European Conference on Computer Vision, Santa Margherita Ligure, Italy, May 19-22, 1992, Proceedings. Volume 588 of Lecture Notes in Computer Science, pages 579-587, Springer, 1992.
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