Robert Mandelbaum Garbis Salgian Harpreet S. Sawhney Correlation-based Estimation of Ego-Motion and Structure from Motion and Stereo. 544-550 1999 ICCV http://computer.org/proceedings/iccv/0164/vol%201/01640544abs.htm db/conf/iccv/iccv1999-1.html#MandelbaumSS99