R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2004.
M. Crocco, C. Rubino, and A. Del-bue, Structure from Motion with Objects, CVPR, 2016.
C. Rubino, M. Crocco, and A. Del-bue, 3D Object Localisation from Multi-View Image Detections, TPAMI, 2018.