@INPROCEEDINGS{FMF-ISMAR-2012, author = {Adam Herout and Istv\'{a}n Szentandr\'{a}si and Michal Zachari\'{a}\v{s} and Mark\'{e}ta Dubsk\'{a} and Rudolf Kajan}, title = {Five Shades of Grey for Fast and Reliable Camera Pose Estimation}, booktitle = {Proceedings of CVPR}, year = {2013}, }