The proposed method combines the calibration likelihood introduced in 'Manhattan world' (J.M. Coughlan and A.L. Yuille) with a stochastic search algorithm to obtain a MAP estimate of the camera's focal length and alignment. Results on real images of indoor scenes are presented. The calibrations obtained are less accurate than those from standard methods employing a calibration pattern or multiple images. However, the outputs are certainly good enough for common vision tasks such as tracking. Moreover, the results are obtained without any user intervention, from a single image, and without use of a calibration pattern.
Click here for an Adobe pdf version