Determining of camera rotation from vanishing points of lines on horizontal planes

A novel method that uses vanishing points of horizontal lines, but not parallel to each other, for estimating the change of camera azimuth is proposed. Although indoor scenes contain many such lines, there also exist non-horizontal lines which should be discarded from the group of lines for estimating the azimuth change. Distinguishing non-horizontal lines from horizontal ones is difficult for a static image, but possible for the dynamic imagery because non-horizontal lines show different motion patterns as the camera moves