Marc Viala Christian Faye Jean-Pierre Guerin Didier Juvin Cylindrical Object Reconstruction with a Moving Camera Embedded in a Poor robotic platform. 167-170 1992 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1992/papers/1992167.pdf conf/mva/1992 db/conf/mva/mva1992.html#VialaFGJ92