Practical Planar Metric Rectification

We propose a simple method for computing a metric rectification of a plane from multiple views taken by Ki = diag( fi, fi, 1) cameras. The orthogonality properties of this camera model are exploited from an early stage to achieve a straightforward optimization process with only two degrees of freedom, even if the fi in all views are unknown. We study the optimization landscapes for several typical camera motions and varying amounts of image noise. We conclude that the problem is extremely ill conditioned and can only be realistically solved for rich camera motions and small amounts of image noise, preferably with at least one fi known in the sequence.

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