Tomas Pajdla:	Omnidirectional Vision
	(catadioptric & dioptric)

Omnidirectional central cameras may see two different scene points on a single line through the center.

See presentation:

for elements of theory of multiple view geometry of omnidirectional cameras. References and links 
to papers can be found at T.Pajdla's homepage: http://cmp.felk.cvut.cz/~pajdla.