Using omnidirectional structure from motion for registration of range images of minimal overlap. Gupta, D., Kumar, A., & Daniilidis, K. In 2nd International Symposium on 3D Data Processing, Visualization and Transmission, pages 333 - 340, 2004.
bibtex   
@inproceedings{gupta04pvt,
	Author = {D. Gupta and A. Kumar and K. Daniilidis},
	Booktitle = {2nd International Symposium on 3D Data Processing, Visualization and Transmission},
	Pages = {333 - 340},
	Title = {Using omnidirectional structure from motion for registration of				 range images of minimal overlap},
	Year = 2004}
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