@TechReport{Micusik-TR-2003-18,
  IS = { zkontrolovano 07 Dec 2003 },
  UPDATE  = { 2003-11-24 },
  author =       {Mi{\v c}u{\v s}{\'\i }k, Branislav and 
                  Pajdla, Tom{\'a}{\v s}},
  title =        {Para-catadioptric Camera Auto-calibration from 
                  Epipolar Geometry},
  institution =  {Center for Machine Perception, 
                  K13133 FEE Czech Technical University},
  address =      {Prague, Czech Republic},
  year =         {2003},
  month =        {November},
  type =         {Research Report},
  number =       {{CTU--CMP--2003--18}},
  issn =         {1213-2365},
  pages =        {6},
  figures =      {9},
  authorship =   {50-50},
  psurl =        {(PDF)},
  project =      {CTU 0306813, GACR 102/01/0971, MSM 212300013, 
                  MSMT KONTAKT 22-2003-04, IST-2001-39184 BeNoGo},
  annote = {We present a method for a para-catadioptric camera
    auto-calibration from point correspondences in two views based on
    the epipolar constraint. Besides rigidity, no assumptions about
    the scene are made (e.g. presence of a calibration object). The
    method leads to a closed form solution - to a polynomial
    eigenvalue problem and therefore no iterative minimizing process
    has to be used. The closed form solution allows to apply the
    RANSAC robust estimation technique and thus use automatically
    established point correspondences contaminated by mismatches. As a
    result of the calibration method, the calibrated camera, the
    estimated essential matrix, and the outliers in point matches are
    obtained. We demonstrate our method in experiments with
    commercially available parabolic mirror. Moreover, we show that
    the para-catadioptric camera model can be used in RANSAC to solve
    correspondence problem for a larger class of catadioptric
    cameras.},
  keywords =     {omnidirectional camera, para-catadioptric camera, 
                  auto-calibration},
}