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Kannala, Juho, Brandt, Sami S., Heikkilä, Janne (2008): Self-Calibration of Central Cameras by Minimizing Angular Error. In: Ranchordas, Alpesh, Araújo, Helder (eds.) VISAPP 2008 - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1 January 22-25, 2008, Funchal, Portugal. pp. 28-35.