Camera pose (pitch, roll, yaw) from observing ceiling from two different positions

edit savecancel

Until now I was using AR Markers for estimating the angles of my camera mounted on a robot. But I believe there is enough information in corners matched between two images of a planar ceiling taken from for example positions (x, y, z) and (x+1, y, z) where there is a known translation between both positions. The coordinate are defined in the world frame in which the ceiling is at z = constant. I am trying to figure out what the equation would be but with no success yet.