@InProceedings{Micusik-CVWW03,
  IS = { zkontrolovano 23 Apr 2003 },
  UPDATE  = { 2003-02-19 },
  author =       { Mi{\v c}u{\v s}{\'\i}k, Branislav and Pajdla, Tom{\'a}{\v s} },
  title =        { Using {RANSAC} for Omnidirectional Camera Model Fitting },
  pages =        { 153--158 },
  booktitle =    { Computer Vision\,---\,CVWW'03~: Proceedings of the
                   8th Computer Vision Winter Workshop },
  isbn =         { 80-238-9967-8 },
  book_pages =   { 176 },
  year =         { 2003 },
  editor =       { Drbohlav, Ond{\v r}ej },
  publisher =    { Czech Pattern Recognition Society },
  address =      { Prague, Czech Republic },
  month =        { February },
  day =          { 3-6 },
  venue =        { Valtice, Czech Republic },
  authorship =   { 50-50 },
  project =      { CTU 0209513, GACR 102/01/0971, MSM 212300013,
                   MSMT KONTAKT 22-2003-04, BeNoGo IST-2001-39184},
  psurl = {full text (PDF),
poster (postscript)},
  keywords =  {omnidirectional camera, calibration, RANSAC with bucketing},
  annote = {We introduce robust technique based on RANSAC for simultaneous
estimation of central omnidirectional camera (view angle above 180deg) 
model and its epipolar geometry. It is shown that points near the center of 
view field circle satisfy the camera model for almost any degree of image 
non-linearity. We show that a remedy to this problem is achieved by not 
using points close to the center of view field circle. In practical 
situations, the proposed method allows to estimate the camera model from 9 
correspondences and can be thus used in an efficient RANSAC based 
estimation technique.},
}