Joint depth and color camera calibration with distortion correction. Herrera Castro, D., Kannala, J., & Heikkilä, J. IEEE Transactions on Pattern Analysis and Machine Intelligence, 34(10):2058-2064, 2012.
bibtex   
@article{
 title = {Joint depth and color camera calibration with distortion correction.},
 type = {article},
 year = {2012},
 pages = {2058-2064},
 volume = {34},
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 bibtype = {article},
 author = {Herrera Castro, D and Kannala, J and Heikkilä, J},
 journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
 number = {10}
}

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