Hartley, Richard; Zisserman, Andrew <br/><br/>
Multiple View Geometry in Computer Vision 

 - 2nd. ed. 
 - Cambridge  Cambridge University Press  2003. 
 - xvi; 655 p. 
<br/><br/><label>ISBN: </label>9780521540513 
<br/><br/><label>Dewey Class. No.: </label>006.37 HAR  / AUKP4159