@article {becker_13_variational, title = {Variational Recursive Joint Estimation of Dense Scene Structure and Camera Motion from Monocular High Speed Traffic Sequences}, journal = {International Journal of Computer Vision}, volume = {105 (3)}, year = {2013}, note = {1}, pages = {269-297}, doi = {10.1007/s11263-013-0639-7}, author = {Florian Becker and Frank Lenzen and J{\"o}rg H. Kappes and Christoph Schn{\"o}rr} }