Exact and approximate solutions of the perspective-three-point problem. DeMenthon, D. & Davis, L. S. IEEE Trans. Pattern Anal. Mach. Intell., 14(11):1100–1105, 1992.
bibtex   
@Article{SCC.DeMenthon.Davis1992,
  author    = {DeMenthon, Daniel and Davis, Larry S.},
  title     = {Exact and approximate solutions of the perspective-three-point problem},
  journal   = {IEEE Trans. Pattern Anal. Mach. Intell.},
  year      = {1992},
  volume    = {14},
  number    = {11},
  pages     = {1100--1105},
  owner     = {aparikh},
  timestamp = {2016.05.11},
}

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