Eric Hayman Lourdes de Agapito Ian D. Reid David W. Murray The Role of Self-Calibration in Euclidean Reconstruction from Two Rotating and Zooming Cameras. 477-492 http://link.springer.de/link/service/series/0558/bibs/1843/18430477.htm 2000 conf/eccv/2000-2 ECCV (2) db/conf/eccv/eccv2000-2.html#HaymanARM00