@article{Torr03a,
        author = "Torr, P. H. S. and Davidson, C.",
        title="IMPSAC: A synthesis of importance sampling and random sample consensus.",
        journal = "PAMI",
        Volume = {25},
        number = 3,
        pages = {354--365},
        url = "http://research.microsoft.com/~philtorr/",
        year = 2003}