Determining an Initial Image Pair for Fixing the Scale of a 3D Reconstruction from an Image Sequence. - Christian Beder; Richard Steffen (DAGM-Symposium, 2006)

Recursive Estimation with Implicit Constraints. - Richard Steffen; Christian Beder (DAGM-Symposium, 2007)

Incremental estimation without specifying a-priori covariance matrices for the novel parameters. - Christian Beder; Richard Steffen (CVPR Workshops, 2008)

Relative Bundle Adjustment Based on Trifocal Constraints. - Richard Steffen; Jan-Michael Frahm; Wolfgang Förstner (ECCV Workshops (1), 2010)