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TRPLP – Trifocal Relative Pose From Lines at Points:

, In: 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR),
Fabbri, Ricardo ; Duff, Timothy ; Fan, Hongyi... - p. 12070-12080 , 2020
Link: https://doi.org/10.1109/CVPR42600.2020.01209