A Geometric Derivation of the Trifocal Tensor and its Constraints
@techreport{Perwass98TRTFT, 
author = {C. Perwass and J. Lasenby}, 
title = {A Geometric Derivation of the Trifocal Tensor and its Constraints}, 
institution = {Cambridge University Engineering Department}, 
type = {Technical Report CUED/F - INFENG/TR.331}, 
year = {1998}}