Ken-ichi Kanatani Atsutada Nakatsuji Yasuyuki Sugaya Stabilizing the Focal Length Computation for 3-D Reconstruction from Two Uncalibrated Views. 109-122 2006 66 International Journal of Computer Vision 2 http://dx.doi.org/10.1007/s11263-005-3952-y db/journals/ijcv/ijcv66.html#KanataniNS06