Multi-camera Topology Recovery using Lines

We present a topology estimation approach for a system of single view point (SVP) cameras using lines. Images captured by SVP cameras such as perspective, central catadioptric or fisheye cameras are mapped to spherical images using the unified projection model. We recover the topology of a multiple central camera setup by rotation and translation decoupling. The camera rotations are first recovered from vanishing points of parallel lines. Next, the translations are estimated from known rotations and line projections in spherical images. The proposed algorithm has been validated on simulated data and real images from perspective and fisheye cameras. This vision-based approach can be used to initialize an extrinsic calibration of a hybrid camera network.