Ryusuke Sagawa Nobuya Aoki Yasushi Yagi Mirror Localization for Catadioptric Imaging System by Observing Parallel Light Pairs. 116-126 2007 conf/accv/2007-1 ACCV (1) http://dx.doi.org/10.1007/978-3-540-76386-4_10 db/conf/accv/accv2007-1.html#SagawaAY07