A unified description of multiple view geometry
@InCollection{perwass101book,
  author = 	 {C. Perwass and J. Lasenby},
  booktitle = 	 {Geometric Computing with Clifford Algebra},
  title = 	 {A unified description of multiple view geometry},
  publisher = 	 {Springer-Verlag, Heidelberg},
  year = 	 2001,
  editor =	 {G. Sommer},
  pages =        {337-369}
}