Relative Pose Estimation and Accuracy Verification of Spherical Panoramic Image
XIE Donghai, ZHONG Ruofei, WU Yu, FU Han, HUANG Xiaochuan, SUN Zhenxing
Acta Geodaetica et Cartographica Sinica . 2017, (11): 1822 -1829 .  DOI: 10.11947/j.AGCS.2017.20160645