Tetsuzo Yamaguchi Masahiko Nakamoto Yoshinobu Sato Yoshikazu Nakajima Kozo Konishi Makoto Hashizume Takashi Nishii Nobuhiko Sugano Hideki Yoshikawa Kazuo Yonenobu Shinichi Tamura Camera Model and Calibration Procedure for Oblique-Viewing Endoscope. 373-381 http://dx.doi.org/10.1007/978-3-540-39903-2_46 2003 conf/miccai/2003-2 MICCAI (2) db/conf/miccai/miccai2003-2.html#YamaguchiNSNKHNSYYT03