Shankar Krishnan Pei Yean Lee John B. Moore Camera motion estimation via optimization-on-a-manifold. 1836-1843 2008 ICARCV http://dx.doi.org/10.1109/ICARCV.2008.4795807 conf/icarcv/2008 db/conf/icarcv/icarcv2008.html#KrishnanLM08