An efficient solution to the five-point relative pose problem

@article{Nistr2004AnES,
  title={An efficient solution to the five-point relative pose problem},
  author={David Nist{\'e}r},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={2004},
  volume={26},
  pages={756-770}
}
An efficient algorithmic solution to the classical five-point relative pose problem is presented. The problem is to find the possible solutions for relative camera pose between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degree polynomial in closed form and, subsequently, finding its roots. It is the first algorithm well-suited for numerical implementation that also corresponds to the inherent complexity of the problem… CONTINUE READING

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