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The goal of this project is to explore the geometric information of man-made environment, especially, I am interested in vanishing point, since parallel and orthogonal constraint is pervasive here. Given vanishing point information, we can easily calibrate camera and estimate camera orientation, and do a lot of work further...
The job is done based on EM algorithm, with a efficient linear initiation. EM is carried on Gaussian sphere, with uncalibrated camera, we show that calibration matrix wouldn't affect the estimation. The result is simultaneously grouping and estimation.
Click on following image to see results.
