Experiments on estimating egomotion and structure parameters using long monocular image sequences.

Ting-Hu Wu Rama Chellappa Qinfen Zheng Experiments on estimating egomotion and structure parameters using long monocular image sequences. 77-103 1995 15 International Journal of Computer Vision 1-2 http://dx.doi.org/10.1007/BF01450850 db/journals/ijcv/ijcv15.html#WuCZ95