@inproceedings{liu13trifocal,
    author = {Ming Liu and Bekir Tufan Alper and Roland Siegwart},
    booktitle = {IEEE International Conference on Robotics and Automation, 2013},
    title = {{An adaptive descriptor for uncalibrated omnidirectional images - towards scene reconstruction by trifocal tensor}},
    year = {2013}
}