@inproceedings{veryfastsolutiontothepnpproblemwith,
  title = {Very Fast Solution to the PnP Problem with Algebraic Outlier Rejection},
  author = {Luis Ferraz and Xavier Binefa and Francesc Moreno-Noguer},
  year = {2014},
  booktitle = {CVPR 2014 6},
  url = {http://openaccess.thecvf.com/content_cvpr_2014/html/Ferraz_Very_Fast_Solution_2014_CVPR_paper.html},
}