@PhdThesis{Micusik-PhD-2004,
  IS = { zkontrolovano 03 Jan 2005 },
  UPDATE  = { 2004-07-02 },
  author =      { Mi{\v c}u{\v s}{\'\i}k, Branislav },
  title =       { Two-View Geometry of Omnidirectional Cameras },
  year =        { 2004 },
  month =       { June },
  day =         { 16 },
  school =      { Department of Cybernetics, 
                  Faculty of Electrical Engineering, 
                  Czech Technical University },
  address =     { Prague, Czech Republic },
  supervisor =  { Hlav{\' a}{\v c}, V{\' a}clav and Pajdla, Tom{\' a}{\v s}},
  type =        { PhD Thesis },
  number =      { {CTU--CMP--2004--07} },
  issn =        { 1213-2365 },
  pages =       { 115 },
  figures =     { 67 },
  appendices =  { 1 },
  authemorship ={ 100 },
  keywords =    { computer vision, stereo vision, 
                  uncalibrated omnidirectional camera, auto-calibration, 
                  epipolar geometry, 3D reconstruction },
  psurl =       { full text (PDF)},
  project =     { MSM 212300013, CTU 0209513, 
                  CTU 0306813, MSMT Kontakt 22-2003-04, 
                  OMNIVIEWS IST-1999-29017, BeNoGo IST-2001-39184 },
  annote = {The theory of central omnidirectional cameras is
    presented. The emphasis is put on geometry. The standard
    projection model is extended in order to describe omnidirectional
    camera geometry. An omnidirectional image formation is studied and
    used in a formulation of the camera auto-calibration. The
    proposed auto-calibration technique can be viewed as a
    generalization of the Fitzgibbon's method for radial distortion
    estimation. The robust auto-calibration method leading to the
    Polynomial Eigenvalue Problem is derived for catadioptric
    (parabolic, hyperbolic, spherical mirror) and for dioptric
    (fish-eye lenses) cameras. The performance on real data is
    demonstrated.  Experiments show that the central model for real
    catadioptric cameras is often not sufficient to obtain accurate 3D
    reconstruction but it is always sufficient enough to get an
    initial estimate of the camera model and motion. The real
    catadioptric cameras have to be treated as non-central to improve
    the accuracy of Structure from Motion estimation.},
}