We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal
vanishing points, and the unknown focal length of the camera, leveraging a
prior vertical direction. The direction can come from an Inertial Measurement
Unit that is a standard component of recent consumer devices, e.g.,
smartphones. We provide an exhaustive analysis of minimal line configurations
and derive two new 2-line solvers, one of which does not suffer from
singularities affecting existing solvers. Additionally, we design a new
non-minimal method, running on an arbitrary number of lines, to boost the
performance in local optimization. Combining all solvers in a hybrid robust
estimator, our method achieves increased accuracy even with a rough prior.
Experiments on synthetic and real-world datasets demonstrate the superior
accuracy of our method compared to the state of the art, while having
comparable runtimes. We further demonstrate the applicability of our solvers
for relative rotation estimation. The code is available at
this https URL

利用先验的垂直方向，我们解决了估计曼哈顿框架（即三个正交消失点）和相机的未知焦距的问题。通过对最小线配置的详尽分析，我们得出了两个新的 2 线解算器，其中一个不会受到影响现有解算器的奇异性的影响。此外，我们设计了一种新的非最小方法，在任意数量的线上运行以增强局部优化的性能。通过在混合鲁棒估计器中组合所有解算器，我们的方法即使在粗略的先验条件下也能实现更高的准确性。在合成和实际数据集上的实验证明了我们方法相对于最先进技术的卓越准确性，同时具有可比较的运行时间。我们进一步证明了我们解算器在相对旋转估计中的适用性。