Interactive indoor scene reconstruction from image mosaics using cuboid structure

We describe a method for reconstructing indoor scenes from image mosaics using prior knowledge of the cuboid structure of the environment. The method is inspired by traditional approaches to the camera pose estimation problems known as the PnL (perspective n lines) and PnA (perspective n angles) problems. We show that a cuboid can be reconstructed from the images of three of its corners. The necessary camera intrinsic parameters are obtained by self-calibration in the image mosaicing process. The major advantages of this method over methods such as single view metrology are: 1) it can do metric reconstruction; 2) it is a closed form solution and numerically stable; 3) it requires only minimal user interaction.