Passive ranging to known planar point sets

@article{Hung1985PassiveRT,
  title={Passive ranging to known planar point sets},
  author={Yubin Hung and Pen-Shu Yeh and David Harwood},
  journal={Proceedings. 1985 IEEE International Conference on Robotics and Automation},
  year={1985},
  volume={2},
  pages={80-85}
}
An algorithm is presented which directly computes the 3-D coordinates of the vertices of a quadrangle relative to the camera frame. This method is extended to determine the camera's exterior orientation in a world coordinate system. A shape restoration procedure is designed to reduce the effects of noise and thereby improve the accuracy of the algorithm. 

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