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In this paper we show that given two homography matrices for two planes in space, there is a linear algorithm for the rotation and translation between the two cameras, the focal lengths of the two cameras and the plane equations in the space. Using the estimates as an initial guess, we can further optimize the solution by minimizing the difference between observations and reprojections. Experimental results are shown. We also provide a discussion about the relationship between this approach and the Kruppa equation.doi:10.1109/cvpr.2000.854886 dblp:conf/cvpr/XuTS00 fatcat:xlmkmj3slvfebdqy7x6y77auze