Guang Jiang Hung-Tat Tsui Long Quan Andrew Zisserman Geometry of Single Axis Motions Using Conic Fitting. 1343-1348 2003 25 IEEE Trans. Pattern Anal. Mach. Intell. 10 http://csdl.computer.org/comp/trans/tp/2003/10/i1343abs.htm db/journals/pami/pami25.html#JiangTQZ03