Position and Pose Estimation of Spherical Panoramic Image with Improved EPnP Algorithm
DENG Fei, WU Yousi, HU Yulei, CUI Hongxia
Acta Geodaetica et Cartographica Sinica . 2016, (6): 677 -684 .  DOI: 10.11947/j.AGCS.2016.20150411