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The online version of the original article can be found at http://dx.doi.org/10.1023/A:1012471930694
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Agapito, L., Hayman, E. & Reid, I. Self-Calibration of Rotating and Zooming Cameras. International Journal of Computer Vision 47, 287 (2002). https://doi.org/10.1023/A:1014514429063
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DOI: https://doi.org/10.1023/A:1014514429063