Motion stereo using ego-motion complex logarithmic mapping. Jain, R., Bartlett, S. L., & O'Brian, N. Pattern Analysis and Machine Intelligence, 9(3):356-369, 1987.
bibtex   
@Article{Jain_1987_7032,
  author = {Jain, R. and Bartlett, S. L. and O'Brian, N.},
 journal = {Pattern Analysis and Machine Intelligence},
 number = {3},
 pages = {356-369},
 title = {Motion stereo using ego-motion complex logarithmic mapping},
 volume = {9},
 year = {1987},
 title_with_no_special_chars = {Motion Stereo Using EgoMotion Complex Logarithmic Mapping}
}

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