Pose estimation in conformal geometric algebra, Part {II}: Real-time pose estimation using extended feature concepts
 @Article{rosenhahn205jmiv,
  author = 	 {B. Rosenhahn and G. Sommer},
  title = 	 {Pose estimation in conformal geometric algebra, Part {II}: Real-time pose estimation using extended feature concepts},
  journal = 	 {Journal of Mathematical Imaging and Vision},
  year = 	 2005,
  publisher =    {Springer Science + Business Media, Inc.},
  volume =       {22},
  pages =        {49-70}
}