Xianghua Ying Hongbin Zha Identical Projective Geometric Properties of Central Catadioptric Line Images and Sphere Images with Applications to Calibration. 89-105 2008 78 International Journal of Computer Vision 1 http://dx.doi.org/10.1007/s11263-007-0082-8 db/journals/ijcv/ijcv78.html#YingZ08