A fully projective formulation to improve the accuracy of lowe's pose-estimation algorithm. Araújo, H., Carceroni, R. L, & Brown, C. M Computer Vision and Image Understanding, 70(2):227--238, Elsevier, 1998.
bibtex   
@Article{Araujo_1998_13882,
  author = {Ara{\'u}jo, Helder and Carceroni, Rodrigo L and Brown, Christopher M},
 journal = {Computer Vision and Image Understanding},
 number = {2},
 pages = {227--238},
 publisher = {Elsevier},
 title = {A fully projective formulation to improve the accuracy of lowe's pose-estimation algorithm},
 volume = {70},
 year = {1998},
 title_with_no_special_chars = {A fully projective formulation to improve the accuracy of Lowes poseestimation algorithm}
}

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