Eric Hayman David W. Murray The Effects of Translational Misalignment when Self-Calibrating Rotating and Zooming Cameras. 1015-1020 2003 25 IEEE Trans. Pattern Anal. Mach. Intell. 8 http://csdl.computer.org/comp/trans/tp/2003/08/i1015abs.htm db/journals/pami/pami25.html#HaymanM03