Camera Pose Determination and 3-D Measurement From Monocular Oblique Images With Horizontal Right Angle Constraints

This letter introduces a novel method for camera pose determination from monocular urban oblique images. Horizontal right angles that widely exist in urban scenes are used as geometric constraints in the camera pose determination, and the proposed 3-D measurement method using a monocular image is presented and then used to check the accuracy of the recovered image's exterior orientation parameters. Compared to the available vertical-line-based camera pose determination method, our new method is more accurate.