Dirk Stichling Natascha Esau Bernd Kleinjohann Lisa Kleinjohann Real-Time Camera Tracking for Mobile Devices: The VisiTrack System. 279-305 2006 32 Real-Time Systems 3 http://dx.doi.org/10.1007/s11241-005-4684-3 db/journals/rts/rts32.html#StichlingEKK06