Daniel Martinec Tomás Pajdla Line Reconstruction from Many Perspective Images by Factorization. 497-502 2003 conf/cvpr/2003 CVPR (1) http://csdl.computer.org/comp/proceedings/cvpr/2003/1900/01/190010497abs.htm db/conf/cvpr/cvpr2003-1.html#MartinecP03