Motion and Structure of Four Points from One Motion of a Stereo Rig with Unknown Extrinsic Parameters.

Zhengyou Zhang Motion and Structure of Four Points from One Motion of a Stereo Rig with Unknown Extrinsic Parameters. 1222-1227 1995 17 IEEE Trans. Pattern Anal. Mach. Intell. 12 http://doi.ieeecomputersociety.org/10.1109/34.476516 db/journals/pami/pami17.html#Zhang95a