1. Least-Squares Fitting of Two 3-D Point Sets
2. (2003). Constrained initialisation for bearing-only SLAM. Paper presented at the IEEE International Conference on Robotics and Automation, Taipei, Taiwan.
3. (2005). Online visual motion estimation using FastSLAM with SIFT features. Paper presented at the IEEE International Conference on Intelligent Robots and Systems, Edmonton, Canada.
4. (2003). General central projection systems modeling, calibration and visual servoing. Unpublished Ph.D. thesis, University of Coimbra, Portugal.
5. Recursive 3-D motion estimation from a monocular image sequence