@TechReport{Bakstein-TR-2006-13,
  IS = { zkontrolovano 29 Dec 2006 },
  UPDATE  = { 2006-12-15 },
 author =       {Bakstein, Hynek and Havlena, Michal and Pohl, Petr and
                 Pajdla, Tom{\'a}{\v s}},
 title =        {Omnidirectional sensors and their calibration for the
                 {Dirac} project},
 institution =  {Center for Machine Perception, K13133 FEE Czech Technical
                 University},
 address =      {Prague, Czech Republic},
 year =         {2006},
 month =        {December},
 type =         {Research Report},
 number =       {CTU--CMP--2006--13},
 issn =         {1213-2365},
 pages =        {20},
 figures =      {21},
 authorship =   {25-25-25-25},
 psurl =        {[Bakstein-TR-2006-13.pdf]},
 project =      {FP6-IST-027787 DIRAC},
 annote = {This report describes several designs of omnidirectional
   cameras developed for the Dirac project. The designs include a
   small lightweight camera with moderate resolution, a stereo rig of
   high resolution cameras, and a compact stereo camera system with a
   high framerate. Calibration procedures for the onmidirectional
   sensors are presented for different models. these models differ in
   their complexity, precision achieved, and possibility to include
   into a RANSAC based estimation procedure.},
 keywords =     {omnidirectional, calibration},
}