Single axis relative rotation from orthogonal lines

We present an efficient algorithm that computes the relative pose between two calibrated views given that the rotation is around a single axis. The algorithm is suited for indoor and urban environments that have an abundance of orthogonal lines. We also present a framework in which this algorithm is used within a hypothesize-and-test framework to simultaneously detect orthogonal lines and compute the relative rotation without explicit structure computation. We study the performance of the algorithm using synthetic and real datasets.