Hajime Nagahara Koji Yoshida Masahiko Yachida An Omnidirectional Vision Sensor with Single View and Constant Resolution. 1-8 2007 ICCV http://dx.doi.org/10.1109/ICCV.2007.4409101 conf/iccv/2007 db/conf/iccv/iccv2007.html#NagaharaYY07