[IEEE 2007 IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP '07 - Honolulu, HI, USA (2007.04.15-2007.04.20)] 2007 IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP '07 - A Fast and Robust Solution to the Five-Pint Relative Pose Problem using Gauss-Newton Optimization on a Manifold

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