@inproceedings{aminimalsolutiontothegeneralizedpose,
  title = {A Minimal Solution to the Generalized Pose-and-Scale Problem},
  author = {Jonathan Ventura and Clemens Arth and Gerhard Reitmayr and Dieter Schmalstieg},
  year = {2014},
  booktitle = {CVPR 2014 6},
  url = {http://openaccess.thecvf.com/content_cvpr_2014/html/Ventura_A_Minimal_Solution_2014_CVPR_paper.html},
}