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           __   __             __   __   ______   
  ____     \ \\/ //   ____     \ \\/ // |      \\ 
 |    \\    \ ` //   |    \\    \ ` //  |  --  // 
 | [] ||     | ||    | [] ||     | ||   |  --  \\ 
 |  __//     |_||    |  __//     |_||   |______// 
 |_|`-`      `-`'    |_|`-`      `-`'   `------`  
 `-`                 `-`

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Text this: Cameras and gravity: Estimating planar object orientation