Qifa Ke, Takeo Kanade. Transforming Camera Geometry to A Virtual Downward-Looking Camera: Robust Ego-Motion Estimation and Ground-Layer Detection. In 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2003), 16-22 June 2003, Madison, WI, USA. pages 390-397, IEEE Computer Society, 2003. [doi]
Abstract is missing.