@article{directtriangulationwithspherical,
  title = {Direct Triangulation with Spherical Projection for Omnidirectional Cameras},
  author = {Ciarán Eising},
  year = {2022},
  eprint = {2206.03928},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2206.03928v1},
}