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Two solvers are proposed for estimating the extrinsic camera parameters froma single affine correspondence assuming general planar motion. In this case,the camera movement is constrained to a plane and the image plane is orthogonalto the ground. The algorithms do not assume other constraints, e.g.\ thenon-holonomic one, to hold. A new minimal solver is proposed for thesemi-calibrated case, i.e. the camera parameters are known except a commonfocal length. Another method is proposed for the fully calibrated case. Due torequiring a single correspondence, robust estimation, e.g. histogram voting,leads to a fast and accurate procedure. The proposed methods are tested in oursynthetic environment and on publicly available real datasets consisting ofvideos through tens of kilometres. They are superior to the state-of-the-artboth in terms of accuracy and processing time.

Relative planar motion for vehicle-mounted cameras from a single affine correspondence