Anand S. Bedekar Robert M. Haralick A Bayesian method for triangulation and its application to finding corresponding points. 362-365 1995 conf/icip/1995 ICIP http://doi.ieeecomputersociety.org/10.1109/ICIP.1995.537490 db/conf/icip/icip1995-2.html#BedekarH95