Figure 2.

Geometry of the physical scene depicted in Figure 1a,b. (a) Top view of the scene. Sizes and distances of objects are not to scale. Distances were computed of traffic signs (r_ts) and house (r_h) relative to the positions from which the pictures were taken. (b) Distance of traffic signs (r_ts) and house (r_h) as function of camera position. The arbitrary origin of the x-axis is chosen 1 m from the FL 72 mm camera position. Thin vertical lines mark the two camera positions from which the pictures were taken. (c) Relative (green) and absolute (magenta) depth between traffic signs and house computed as function of camera position.