Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles. Scaramuzza, D. & Siegwart, R. In Computer Vision Systems, volume 5008, pages 5206-215. Springer-Berlin, 2008.
bibtex   
@InCollection{Scaramuzza08CVS,
  Title                    = {Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles},
  Author                   = {D. Scaramuzza and R. Siegwart},
  Booktitle                = {Computer Vision Systems},
  Publisher                = {Springer-Berlin},
  Year                     = {2008},
  Pages                    = {5206-215},
  Volume                   = {5008}
}

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