The first experiment, to test the algorithm, uses two images of a calibration grid. Two planes were detected (see figure 5), and the angle between the two planes was found to be 89.91 degrees which is a relative error of 0.1%.
Figure 5: Two automatically detected planes of a calibration grid. (angle 89.91 degrees.)
A sequence of uncalibrated PAL images were captured using a PULNIX camera. The images were projectively calibrated using a set of manual point matches, and matched edges were obtained using edge matching software by Pollard et al. . The results of the algorithm described in Section 5.3 are shown in Figures 6 and 7. Figure 6 shows sets of lines which agree with planes in the world, and Figure 7 shows the two incorrect planes found by the algorithm.
A second sequence of three images of Fitzwilliam Museum were captured using a digital camera, and the results are shown in figure 8.