Algorithms for Plane-Based Pose Estimation

We present several methods for the estimation of relative pose between planes and cameras, based on projections of sets of coplanar features in images. While such methods exist for simple cases, especially one plane seen in one or several views, the aim of this paper is to propose solutions for multi-plane multi-view situations, possibly with little overlap. We propose a factorization-based method for the general case of planes seen in views. A mechanism for computing missing data, i.e. when one or several of the planes are not visible in one or several of the images, is described. Finally, a bundle adjustment procedure is developed that optimizes camera and plane pose as well as camera calibration.