Lei Cheng Fuchao Wu Zhanyi Hu Hung-Tat Tsui A New Approach to Solving Kruppa Equations for Camera Self-Calibration. 308-311 2002 conf/icpr/2002 ICPR (2) https://doi.org/10.1109/ICPR.2002.1048301 https://doi.ieeecomputersociety.org/10.1109/ICPR.2002.1048301 db/conf/icpr/icpr2002-2.html#ChengWHT02