Manhattan与quasi-Manhattan的定义

论文 “Vertical corner line detection on buildings in quasi-Manhattan world” 中引言部分第一段介绍到：

Most indoor and outdoor city scenes are usually based on a cartesian coordinate system and their prominent structures are orthogonal with each other. This kind of scenes are referred to as Manhattan world [1] or Atlanta world [2]. Meanwhile, there are some quasi-Manhattan world assumptions, with a difference that horizontal plane normals from different vertical planes need not be orthogonal, used for detecting geometric context such as lines, planes and rectangles to solve the structure from motion, wide-baseline stereo matching and camera calibration problems

Manhattan场景中的平面是彼此垂直或者平行的的；quasi-Manhattan场景中，垂直于地面的那些平面（除了那些平行的）不一定是90度的夹角，允许存在具有不同夹角的竖直面。