Pau Gargallo Emmanuel Prados Peter F. Sturm Minimizing the Reprojection Error in Surface Reconstruction from Images. 1-8 2007 ICCV http://dx.doi.org/10.1109/ICCV.2007.4409003 conf/iccv/2007 db/conf/iccv/iccv2007.html#GargalloPS07