@InProceedings{Torii-Havlena-Pajdla-CVPR-2008-InProceedings,
  IS = { zkontrolovano 16 Jan 2009 },
  UPDATE  = { 2008-08-28 },
 author =      {Torii, Akihiko and Havlena, Michal and 
                Pajdla, Tom{\'a}{\v s} and Leibe, Bastian},
 title =       {Measuring camera translation by the dominant apical angle},
 year =        {2008},
 pages =       {7},
 booktitle =   {CVPR 2008: Proceedings of the 2008 IEEE Computer Society
                Conference on Computer Vision and Pattern Recognition},
 publisher =   {Omnipress},
 address =     {Madison, USA},
 isbn =        {978-1-4244-2243-2},
 issn =        {1063-6919},
 book_pages =  {2954},
 month =       {June},
 day =         {24-26},
 venue =       {Anchorage, USA},
 organization ={IEEE Computer Society},
 annote = {This paper provides a technique for measuring camera
  translation relatively to the scene from two images. We demonstrate
  that the amount of the translation can be reliably measured for
  general as well as planar scenes by the most frequent apical angle,
  the angle under which the camera centers are seen from the
  perspective of the reconstructed scene points. Simulated
  experiments show that the dominant apical angle is a linear function
  of the length of the true camera translation. In a real experiment,
  we demonstrate that by skipping image pairs with too small motion,
  we can reliably initialize structure from motion, compute accurate
  camera trajectory in order to rectify images and use the ground
  plane constraint in recognition of pedestrians in a hand-held video
  sequence.},
 keywords =    {Epipolar Geometry, Structure from Motion, Pedestrian Detection, 
                Omnidirectional Vision},
 authorship =  {30-30-30-10},
 project =     {FP6-IST-027787 DIRAC, MSM6840770038, STINT Dur IG2003-2 062, 
                MSMT Kontakt 9-06-17},
 prestige    = { important },
 note        = { CD-ROM },
}