Model-based object pose in 25 lines of code. DeMenthon, D. and Davis, L. Int. J. Comput. Vision, 15:123–141, 1995.
bibtex   
@Article{SCC.DeMenthon.Davis1995,
  author    = {DeMenthon, D. and Davis, L.},
  title     = {Model-based object pose in 25 lines of code},
  journal   = {Int. J. Comput. Vision},
  year      = {1995},
  volume    = {15},
  pages     = {123--141},
  owner     = {ghu},
  timestamp = {2007.06.23},
}
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