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@phdthesis{TUW-119370,
    author = {Ressl, Camillo},
    title = {Geometry, Constraints and Computation of the Trifocal Tensor},
    school = {Institut f{\"u}r Photogrammetrie und Fernerkundung},
    year = {2003},
    url = {http://publik.tuwien.ac.at/files/PubDat_119370.pdf}
}