@article{Penate_pami2013,
author  = {A. Penate-Sanchez and J. Andrade-Cetto and F. Moreno-Noguer},
title   = {Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI)},
volume  = {35},
number  = {10},
issn    = {0162-8828},
pages   = {2387-2400},
doi     = {http://doi.ieeecomputersociety.org/10.1109/TPAMI.2013.36},
year    = {2013},
}