Hartley, Richard. Multiple view geometry in computer vision / Richard Hartley, Andrew Zisserman. - 2nd ed. - Cambridge : Cambridge University Press, c2003. - xvi, 655 p. : ill. (some col.) ; 24 cm. Includes bibliographical references and index. ISBN: 0521540518 LCCN: 2004557531 Subjects--Topical Terms: Computer vision.Geometry, Projective. Dewey Class. No.: 006.37 / HAM