Tomás Pajdla Václav Hlavác Image-Based Self-Localization by Means of Zero Phase Representation in Panoramic Images. 24-31 2001 conf/icapr/2001 ICAPR http://link.springer.de/link/service/series/0558/bibs/2013/20130024.htm db/conf/icapr/icapr2001.html#PajdlaH01