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Jacobs DW.  1993.  2D images of 3-D oriented points. Computer Vision and Pattern Recognition, 1993. Proceedings CVPR '93., 1993 IEEE Computer Society Conference on. :226-232.
O
Spetsakis ME, Aloimonos Y.  1989.  Optimal motion estimation. Workshop on Visual Motion, 1989.,Proceedings. :229-237.