IS = { zkontrolovano 30 Dec 2008 },
  UPDATE  = { 2008-05-02 },
  author =      {Havlena, Michal and Pajdla, Tom{\' a}{\v s} and Cornelis, Kurt},
  title =       {Structure from Omnidirectional Stereo Rig Motion for City Modeling},
  year =        {2008},
  pages =       {407-414},
  booktitle =   {VISAPP 2008: Proceedings of the Third International Conference
                 on Computer Vision Theory and Applications},
  editor =      {AlpeshKumar N. Ranchordas and Helder J. Ara{\' u}jo},
  publisher =   {INSTICC Press},
  address =     {Set{\'u}bal, Portugal},
  isbn =        {978-989-8111-21-0},
  volume =      {2},
  book_pages =  {698},
  month =       {January},
  day =         {22-25},
  venue =       {Funchal, Madeira, Portugal},
  annote =      {This paper deals with a step towards a 3D reconstruction
    system for city modeling from omnidirectional video sequences using
    structure from motion together with stereo constraints. We
    concentrate on two issues. First, we show how the tracking and
    reconstruction paradigm were adapted to use omnidirectional images
    taken by lenses with 180 degrees field of view. This concerns
    mainly camera calibration transforming the pixel locations into
    rays and solving the minimal problem for 3D-to-2D matches using
    RANSAC. Secondly, we compare the results of the reconstruction
    using additional stereo constraints to the results when these
    constraints are not used and show that they are needed to make the
    reconstruction stable. Performance of the system is demonstrated on
    a sequence of 870 images acquired while driving in a city.},
  keywords =    {Structure from Motion, City Modeling, Omnidirectional Vision},
  project =     {FP6-IST-027787 DIRAC, GACR 201/07/1136, CTU0705913},
  psurl =       {[Havlena-VISAPP-2008.pdf]},