Adrien Bartoli Mathieu Coquerelle Peter F. Sturm A Framework for Pencil-of-Points Structure-from-Motion. 28-40 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3022&spage=28 2004 conf/eccv/2004-2 ECCV (2) db/conf/eccv/eccv2004-2.html#BartoliCS04