Constraint Equations for 2D-3D Pose Estimation in Conformal Geometric Algebra
@TechReport{rosenhahnTR.396,
  author = 	 {B. Rosenhahn and J. Lasenby},
  title = 	 {Constraint Equations for 2D-3D Pose Estimation in Conformal Geometric Algebra},
  institution =  {University of Cambridge, Dept. of Engineering},
  year = 	 2000
}