Calibration algorithm using known angles

A calibration algorithm is presented which uses a specific scene constraint, the invariance of angles under the similarity transformation, while recovering the Euclidean structure up to a scale from image correspondences. Since the strong scene constraint is applied to the minimization process to compute the camera parameters, the estimated Euclidean structure automatically satisfies the scene constraint. It can also effectively cope with the varying intrinsic parameters of the camera by only using projective reconstruction.