Laurent Kneip, Davide Scaramuzza, Roland Siegwart. A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation. In The 24th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2011, Colorado Springs, CO, USA, 20-25 June 2011. pages 2969-2976, IEEE, 2011. [doi]
Abstract is missing.