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Fadi Dornaika; Angel Sappa SFM for Planar Scenes: a Direct and Robust Approach 2007 book chapter: Informatics in Control, Automation and Robotics II, Ed. J. Filipe, J. Ferrier, J. Cetto and M. Carvalho, pp. 129–136. (best papers ICINCO 2005) details   openurl
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