Davide Scaramuzza Nicolas Criblez Agostino Martinelli Roland Siegwart Robust Feature Extraction and Matching for Omnidirectional Images. 71-81 2007 FSR http://dx.doi.org/10.1007/978-3-540-75404-6_7 conf/fsr/2007 db/conf/fsr/fsr2007.html#ScaramuzzaCMS07