@inproceedings{kawahara2014pixel,
  title = {A Pixel-wise Varifocal Camera Model for Efficient Forward Projection and Linear Extrinsic Calibration of Underwater Cameras with Flat Housings},
  author = {Kawahara, Ryo and Nobuhara, Shohei and Matsuyama, Takashi},
  booktitle = {ICCV Workshop on Underwater Vision},
  year = {2014},
  url = {http://vision.kuee.kyoto-u.ac.jp/%7Enob/proj/pvcm/},
  pdf = {http://vision.kuee.kyoto-u.ac.jp/%7Enob/pdf/kawahara2014pixel.pdf}
}