Christopher Geyer Kostas Daniilidis Mirrors in motion: Epipolar geometry and motion estimation. 766-773 2003 conf/iccv/2003 ICCV http://csdl.computer.org/comp/proceedings/iccv/2003/1950/02/195020766abs.htm db/conf/iccv/iccv2003-2.html#GeyerD03