Toshio Ueshiba Fumiaki Tomita A Closed-Form Solution for a Two-View Self-Calibration Problem under Fixation. 648-655 2004 conf/3dpvt/2004 3DPVT http://csdl.computer.org/comp/proceedings/3dpvt/2004/2223/00/22230648abs.htm db/conf/3dpvt/3dpvt2004.html#UeshibaT04