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@inproceedings{kuse2016robust,
  title={Robust camera motion estimation using direct edge alignment and sub-gradient method},
  author={Kuse, Manohar and Shen, Shaojie},
  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},
  pages={573--579},
  year={2016},
  organization={IEEE}
}