Calibration of urban environment images

A technique of calibration on urban environment image sequences is proposed. This technique is based on dominant feature of such scenes - parallelism and orthogonality of lines. The described computing circuit covers automatic images vectoring with picking calibration lines set and extrinsic calibration determination at both known and unknown camera focus. The main feature of technique is a decomposition extrinsic calibration with realization of alternative local decisions. Results of tests on synthetic and real data are presented.