Faysal Boughorbel Paul Crilly Andreas Koschan Mongi A. Abidi Estimating 3D camera motion without correspondences using a search for the best structure. 327-337 2003 24 Pattern Recognition Letters 1-3 http://dx.doi.org/10.1016/S0167-8655(02)00246-5 db/journals/prl/prl24.html#BoughorbelCKA03