Essential Matrix Estimation Using Gauss-Newton Iterations on a Manifold.

Uwe Helmke Knut Hüper Pei Yean Lee John B. Moore Essential Matrix Estimation Using Gauss-Newton Iterations on a Manifold. 117-136 2007 74 International Journal of Computer Vision 2 http://dx.doi.org/10.1007/s11263-006-0005-0 db/journals/ijcv/ijcv74.html#HelmkeHLM07