Pose Estimation in Conformal Geometric Algebra, Part I: The Stratification of Mathematical Spaces, PartII: Real-time Pose Estimation using Extended Feature Concepts
@TechReport{rosenhahnTR0206,
   author = {B. Rosenhahn and G. Sommer},
   title = {Pose Estimation in Conformal Geometric Algebra, Part I: The Stratification of Mathematical Spaces, PartII: Real-time Pose Estimation using Extended Feature Concepts},
   institution = {Christian-Albrechts-Universit{"a}t zu Kiel, 
       Institut f{"u}r Informatik und Praktische Mathematik},
   type = {Technical Report},
   number = {Number 0206},
   month =      {November},
   year = 2002,
}