Equivalence of Catadioptric Projections and Mappings of the Sphere. Geyer, C. & Daniilidis, K. In IEEE Workshop on Omnidirectional Vision, pages 91–96, 2000.
bibtex   
@inproceedings{geyer00omnivis,
	Author = {C. Geyer and K. Daniilidis},
	Booktitle = {IEEE Workshop on Omnidirectional Vision},
	Pages = {91--96},
	Title = {Equivalence of Catadioptric Projections and Mappings of the Sphere},
	Year = 2000}

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