Douglas Lanman Daniel E. Crispell Megan Wachs Gabriel Taubin Spherical Catadioptric Arrays: Construction, Multi-View Geometry, and Calibration. 81-88 2006 conf/3dpvt/2006 3DPVT http://doi.ieeecomputersociety.org/10.1109/3DPVT.2006.130 db/conf/3dpvt/3dpvt2006.html#LanmanCWT06