Stefan Lehmann Andrew P. Bradley I. Vaughan L. Clarkson John Williams Peter J. Kootsookos Correspondence-Free Determination of the Affine Fundamental Matrix. 82-97 2007 29 IEEE Trans. Pattern Anal. Mach. Intell. 1 http://doi.ieeecomputersociety.org/10.1109/TPAMI.2007.5 db/journals/pami/pami29.html#LehmannBCWK07