Weiming Yao Tsutomu Horikoshi Takayuki Yasuno Satoshi Suzuki Structure from Motion Using Coarse to Fine 3d Voting. 313-316 1992 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1992/papers/1992313.pdf conf/mva/1992 db/conf/mva/mva1992.html#YaoHYS92