@InCollection{foerstner24:Essential, author = {W. F�rstner}, booktitle = {Collected Notes, V1.0}, year = {2024}, date = {2024-06-08}, title = {{Essential Matrix from Affine Matches and its Precision}}, page = {387}, chapter = {29}, publisher = {Institute for Geodesy and Geoinformation, Uni Bonn}, type = {Techreport},} 
