Lourdes de Agapito Eric Hayman Richard I. Hartley Linear Self-Calibration of a Rotating and Zooming Camera. 1015-1021 1999 conf/cvpr/1999 CVPR http://computer.org/proceedings/cvpr/0149/volume1/01491015abs.htm db/conf/cvpr/cvpr1999.html#AgapitoHH99