The coupling of rotation and translation in motion estimation of planar surfaces
@inproceedings{dani93cvpr,
        Author="K. Daniilidis and H.-H. Nagel",
        Title="The coupling of rotation and translation in motion estimation of planar surfaces",
        Year=1993,
        booktitle="it IEEE Conf. on Computer Vision and
Pattern Recognition 1993",
    address="New  York, NY, June 15-17",
        pages="188-193"
        }