Théodore Papadopoulo Olivier D. Faugeras A New Characterization of the Trifocal Tensor. 109-123 http://link.springer.de/link/service/series/0558/bibs/1406/14060109.htm 1998 conf/eccv/1998-1 ECCV (1) db/conf/eccv/eccv1998-1.html#PapadopouloF98