Toon Goedemé Tinne Tuytelaars Luc J. Van Gool Fast Wide Baseline Matching for Visual Navigation. 24-29 2004 CVPR (1) http://csdl.computer.org/comp/proceedings/cvpr/2004/2158/01/215810024abs.htm db/conf/cvpr/cvpr2004-1.html#GoedemeTG04