Paulo R. S. Mendonça Roberto Cipolla Estimation of Epipolar Geometry from Apparent Contours: Affine and Circular Motion Cases. 1009-1014 1999 conf/cvpr/1999 CVPR http://computer.org/proceedings/cvpr/0149/volume1/01491009abs.htm db/conf/cvpr/cvpr1999.html#MendoncaC99