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Soatto, Stefano and Perona, Pietro (1998) Reducing “Structure from Motion”: a general framework for dynamic vision. 1. Modeling. IEEE Transactions on Pattern Analysis and Machine Intelligence, 20 (9). pp. 933-942. ISSN 0162-8828. http://resolver.caltech.edu/CaltechAUTHORS:SOAieeetpami98a

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