@article{mlpnparealtimemaximumlikelihoodsolution,
  title = {MLPnP - A Real-Time Maximum Likelihood Solution to the Perspective-n-Point Problem},
  author = {Steffen Urban and Jens Leitloff and Stefan Hinz},
  year = {2016},
  eprint = {1607.08112},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1607.08112v1},
}