Planar metric rectification from perspective image via vertical vanishing point

We propose a method for estimating the rectification homography of ground plane image using the plane´s vertical vanishing point. First, the method computes the image of the horizon by a vertical prism pole in the image. Then, the two imaged circular points of the ground plane are computed from the image of absolute conic and the imaged horizon. At last, the image rectification is computed from the conic dual to the circular points of the ground plane by singular value decomposition method. Experimental results show that the angle measurement error in the rectified image is less than 1.8°, which means the method is accurate and can be applied in various applications.