@inproceedings{robustscaleestimationinrealtime,
  title = {Robust Scale Estimation in Real-Time Monocular SFM for Autonomous Driving},
  author = {Shiyu Song and Manmohan Chandraker},
  year = {2014},
  booktitle = {CVPR 2014 6},
  url = {http://openaccess.thecvf.com/content_cvpr_2014/html/Song_Robust_Scale_Estimation_2014_CVPR_paper.html},
}