Calibration of an Outdoor Active Camera. Collins, R. T. & Tsin, Y. Technical Report CMU-RI-TR-98-36, The Robotics Institute, Carnegie Mellon University, 1998.
bibtex   
@TechReport{collins1998,
  Title                    = {Calibration of an Outdoor Active Camera},
  Author                   = {R. T. Collins and Y. Tsin},
  Institution              = {CMU-RI-TR-98-36, The Robotics Institute, Carnegie Mellon University},
  Year                     = {1998}
}
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