仅用一条已知距离的参考线，就能估算悬空相机的俯仰与翻滚角。
Automatic camera orientation estimation for a partially calibrated camera above a plane with a line at known planar distance
- 利用已知高度和单条参考线反推相机姿态
- 在无完整标定条件下实现高精度姿态估计
- 适合空间受限的多相机系统部署
本文提出一种方法，用于估算安装在平面之上、部分标定的相机的翻滚角和俯仰角。假设相机内参已知且与平面间固定高度，通过检测一条位于已知平面距离处的直线（如地板与墙的交线），基于逆投影几何关系计算姿态角。该方法结合了几何约束与相机模型，包含镜头畸变校正。适用于无法进行完整标定的场景，为受限环境下的多相机系统提供轻量级姿态估计方案。
原文摘要 · Abstract (English)
We present a derivation for estimating the roll and pitch orientation of a partially calibrated camera mounted above a planar surface, using minimal scene information. Specifically, we assume known intrinsic parameters and a fixed height between the camera and the observed plane. By detecting a single straight reference line at a known planar distance -- such as the edge between a floor and a wall -- we estimate the roll and pitch angles via inverse projection geometry. The method leverages geometric constraints and the camera model, including lens distortion correction. This approach is suitable for scenarios where full calibration is impractical and offers a lightweight alternative for multi-camera systems operating in constrained environments.
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