Plane Based Relative Structure Recovery

In this paper we provide a novel linear algorithm t o est imate the direction of translation and the normal t o the scene plane, given a stereo pair with known correspondences between the corners in the images. Planar parallax which arises naturally in planar scenes( and can also be defined with respect t o virtual planes), is exploited t o achieve this. Based o n the parallax vectors and the homography induced by the scene plane we calculate the direction of translation and the normal t o the scene plane. W e also calculate the relative heights of points o n the object with respect to the scene plane, given the height of the camera above the plane. The accuracy of the estimated normal with respect t o noise in input data is also analyzed empirically: