Bibliography

Fischler, M. A. and Bolles, R. C. (1981). Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography. Communications of the ACM 24, 381–395.

Hartley, R. and Zisserman, A. (2004). Multiple View Geometry in Computer Vision. 2 Edition (Cambridge University Press, Cambridge).