@inproceedings{motionestimationforselfdrivingcarswith,
  title = {Motion Estimation for Self-Driving Cars with a Generalized Camera},
  author = {Gim Hee Lee and Friedrich Faundorfer and Marc Pollefeys},
  year = {2013},
  booktitle = {CVPR 2013 6},
  url = {http://openaccess.thecvf.com/content_cvpr_2013/html/Lee_Motion_Estimation_for_2013_CVPR_paper.html},
}