Abstract
Presented algorithm solves co-planar P4P problem of parallel lines viewed in perspective with algebraic equation. Introduction of visual sphere model extends this algorithm to exotic non-linear projections, where view angle can span to 180° and beyond; a hard-limit of rectilinear perspective used in planar homography. This algorithm can perform full 3D reconstruction of visible rectangle, including pose estimation, and camera orientation. It requires some camera-lens information like angle of view (for rectilinear projection) or a perspective map.
Abstract (translated)
URL
https://arxiv.org/abs/2004.08933