Klas Josephson Mathematical Methods for Image Based Localization. 2010 Lund University, Sweden http://lup.lub.lu.se/record/1585793 http://portal.research.lu.se/ws/files/3053172/1585796.pdf https://www.base-search.net/Record/a8c68c404203853ccb573c4e21353eac80386f038fcb73621f4cfd5eb12a8e1b base-search.net (ftulundlup:oai:lup.lub.lu.se:cf04de44-7590-4c5c-a9e2-be439a1a0f02)