Accurate pose and location estimation of uncalibrated camera in urban area

This paper proposes an improved calibration method based on multi-view´s vanishing point to estimate the accurate pose and location parameters of camera in building scene. This method put the lens distortion and orientation parameters of camera directly into the calibration mode. Furthermore, using the line feature existing in the building surface, geometric constraints are introduced into the calibrating model. The orientation parameters of camera can be estimated accurately by this method.