The coupling of rotation and translation in motion estimation of planar surfaces. Daniilidis, K. and Nagel, H. In IEEE Conf. on Computer Vision and Pattern Recognition 1993, pages 188-193, 1993.
bibtex   
@inproceedings{dani93cvpr,
	Author = {K. Daniilidis and H.-H. Nagel},
	Booktitle = {IEEE Conf. on Computer Vision and Pattern Recognition 1993},
	Pages = {188-193},
	Title = {The coupling of rotation and translation in motion estimation of planar surfaces},
	Year = 1993}
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