Pose estimation of 3D free-form contours
 @Article{rosenhahn05ijcv,
  author = 	 {B. Rosenhahn and C. Perwass and G. Sommer},
  title = 	 {Pose estimation of 3D free-form contours},
  journal = 	 {Int. Journal of Computer Vision},
  year = 	 2005,
  volume =       {62},
  number =       {3},
  pages =        {267-289},
  publisher =    {Springer Science + Business Media, Inc.}
}