Wladyslaw Skarbek Michal Tomaszewski Epipolar Angular Factorisation of Essential Matrix for Camera Pose Calibration. 401-412 2009 MIRAGE http://dx.doi.org/10.1007/978-3-642-01811-4_36 conf/mirage/2009 db/conf/mirage/mirage2009.html#SkarbekT09