Brad Grinstead Andreas Koschan Andrei V. Gribok Mongi A. Abidi David Gorsich Outlier rejection by oriented tracks to aid pose estimation from video. 37-48 2006 27 Pattern Recognition Letters 1 http://dx.doi.org/10.1016/j.patrec.2005.06.013 db/journals/prl/prl27.html#GrinsteadKGAG06