Before revision:  We significantly improve upon the RMSE of previous work on fisheye by 25\% reduction in RMSE. As there is limited work on fisheye cameras, we evaluated the proposed method on KITTI using a pinhole model.
After revision:  We significantly improve upon the RMSE of previous work on fisheye by 25\% reduction in RMSE. As there is little work on fisheye cameras, we evaluated the proposed method on KITTI using a pinhole model.