@InProceedings{soatto98optimal,
  author = 	 {Stefano Soatto and Roger W. Brockett},
  title = 	 {Optimal Structure from Motion: Local Ambiguities and Global Estimates},
  booktitle = 	 {Proc. IEEE Conf. on Computer Vision and Pattern Recognition},
  pages = 	 {282-288},
  year = 	 {1998},
  address = 	 {Santa Barbara, CA}
}