23 June 1993 Geometry of a spherical image
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A notion of spherical image is described that serves as a basis for defining the various geometric edges in a uniform way, for distinguishing between different views of an object, and for recovering range. The notion proposed here augments the point set image with a tangent vector frame field which arises naturally from the gradient of range and the perspective projection process.
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Warren M. Krueger, "Geometry of a spherical image", Proc. SPIE 2031, Geometric Methods in Computer Vision II, (23 June 1993); doi: 10.1117/12.146649; https://doi.org/10.1117/12.146649

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