Stochastically optimal epipole estimation in omnidirectional images with geometric algebra
 @InProceedings{gebkensommer08robvis,
  author    = {C. Gebken and G. Sommer},
  title     = {Stochastically Optimal Epipole Estimation in
Omnidirectional Images with Geometric Algebra},
  booktitle = {2nd Workshop Robot Vision},
  organization = {ROBVIS08},
  editor    = {Bruce McDonald and Uwe Franke and Reinhard Klette and
Gerald Sommer},
  publisher = {Springer-Verlag},
  year      = {2008},
  date = {Feb. 18-20}
}