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This paper presents a method for determining the six degrees-of-freedom transformation between a camera and a base frame of interest. A planar mirror is maneuvered so as to allow the camera to observe the environment from several viewing angles. Points, whose coordinates in the base frame are known, are observed by the camera via their reflections in the mirror. Exploiting these measurements, the authors determine the camera-to-base transformation analytically, without assuming prior knowledge of the mirror motion or placement with respect to the camera.
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