@article{anefficientplanarbundleadjustment,
  title = {An Efficient Planar Bundle Adjustment Algorithm},
  author = {Lipu Zhou and Daniel Koppel and Hui Ju and Frank Steinbruecker and Michael Kaess},
  year = {2020},
  eprint = {2006.00187},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2006.00187v2},
}