Masatoshi Hamanaka Yukiko Kenmochi Akihiro Sugimoto Discrete Epipolar Geometry. 323-334 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3429&spage=323 2005 conf/dgci/2005 DGCI db/conf/dgci/dgci2005.html#HamanakaKS05