Toshio Ueshiba Fumiaki Tomita Plane-based Calibration Algorithm for Multi-camera Systems via Factorization of Homography Matrices. 966-973 2003 conf/iccv/2003 ICCV http://csdl.computer.org/comp/proceedings/iccv/2003/1950/02/195020966abs.htm db/conf/iccv/iccv2003-2.html#UeshibaT03