Fakhreddine Ababsa David Roussel Malik Mallem An Optimal Low Cost Solution for the 3D Free Form Object Recovering Pose Problem. 136-139 2002 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/2002/papers/2002136.pdf conf/mva/2002 db/conf/mva/mva2002.html#AbabsaRM02