In this paper, we propose a new method to estimate an infinite homography between two views containing two arbitrary planar rectangles. The proposed method does not require metric measurements, such as rectangle lengths or aspect ratios of the rectangles. We introduce the concept of semi-metric cameras and show that the semi-metric cameras derived from different views that see an identical 3D rectangle, can be regarded purely translating cameras whose pixel is zero-skewed. New parameterization for infinite homography is developed based upon the semi-metric space, and this parameterization is used to propose a new algorithm to estimate infinite homography. As a direct application, we apply our algorithm to autocalibration for a scene only with a few feature points on each rectangles.
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