Ken-ichi Kanatani Yasuyuki Sugaya Hanno Ackermann Uncalibrated Factorization Using a Variable Symmetric Affine Camera. 851-858 2007 90-D IEICE Transactions 5 http://dx.doi.org/10.1093/ietisy/e90-d.5.851 db/journals/ieicet/ieicet90d.html#KanataniSA07