Linear pose estimation from points and lines. Ansar, A. & Daniilidis, K. IEEE Trans. Patterns Analysis Machine Intelligence, 25:578-589, 2003.
bibtex   
@article{ansar02pami,
	Author = {A. Ansar and K. Daniilidis},
	Journal = {IEEE Trans. Patterns Analysis Machine Intelligence},
	Pages = {578-589},
	Title = {Linear pose estimation from points and lines},
	Volume = {25},
	Year = 2003}

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