Catadioptric Camera Calibration.pdf Catadioptric Self-Calibration.pdf EKF-based 3D SLAM for Structured Environment.pdf Estimation of omnidirectional.pdf Geometric Properties of Central Catadioptric Line.pdf Geometric Properties of Central.pdf A Theory of Catadioptric Image Formation.pdf Autocalibration & 3D Reconstruction with Non-central Catadioptric Cameras.pdf