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1992

Rothwell, C. A., A. Zisserman, C. I. Marinos, D. A. Forsyth, and J. L. Mundy, "Relative Motion and Pose from Arbitrary Plane Curves", IVC, vol. 10, no. 4, pp. 250-262, May, 1992.

1990

Zisserman, A., C. I. Marinos, D. A. Forsyth, J. L. Mundy, and C. A. Rothwell, "Relative motion and pose from invariants", BMVC90, pp. xx-yy, 1990.