Damien Jade Duff Thomas Morwald Rustam Stolkin Jeremy L. Wyatt Physical simulation for monocular 3D model based tracking. 5218-5225 2011 ICRA https://doi.org/10.1109/ICRA.2011.5980535 conf/icra/2011 db/conf/icra/icra2011.html#DuffMSW11