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@ARTICLE{briales2015p3oa,
    author = {Briales, Jesus and Gonzalez-Jimenez, Javier},
  keywords = {2D-3D registration, minimal solution, rotation estimation, visual gyroscope},
     month = {{{jul}}},
     title = {A minimal closed-form solution for the Perspective Three orthogonal Angles (P3oA) problem. Application to visual odometry.},
   journal = {Journal of Mathematical Imaging and Vision},
    volume = {55},
    number = {3},
      year = {2016},
       doi = {10.1007/s10851-015-0620-x},
     pages = {266--283}
}