Hongwei Gao Ben Niu Yang Yu Liang Chen An Improved Two-Stage Camera Calibration Method Based on Particle Swarm Optimization. 804-813 2009 ICIC (2) http://dx.doi.org/10.1007/978-3-642-04020-7_86 conf/icic/2009-2 db/conf/icic/icic2009-2.html#GaoNYC09