Grant Schindler Frank Dellaert Atlanta World: An Expectation Maximization Framework for Simultaneous Low-Level Edge Grouping and Camera Calibration in Complex Man-Made Environments. 203-209 2004 CVPR (1) http://csdl.computer.org/comp/proceedings/cvpr/2004/2158/01/215810203abs.htm db/conf/cvpr/cvpr2004-1.html#SchindlerD04