We exploit the common constraint of having a right-angle corner of two rectangular planes in the scene in order to calibrate a perspective projection camera and compute its pose relative to the coordinate system defined by the corner. No metric information about the corner is assumed. The camera is constrained to have its image x- and y-axes to be orthogonal with the same scale factor, which is valid for most real-world cameras. We then reproject the image of the corner to an arbitrary viewpoint. We can also compute the metric properties of the scene to scale. We report experi- mental results with subjectively acceptable quality. The approach shows the power of exploiting constraints that are abundant in typical architectural scenes.
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