Relative Pose Estimation of Calibrated Cameras with Known $\mathrm {SE}(3)$ Invariants

@inproceedings{Li2020RelativePE,
  title={Relative Pose Estimation of Calibrated Cameras with Known \$\mathrm \{SE\}(3)\$ Invariants},
  author={Bo Li and Evgeniy Martyushev and Gim Hee Lee},
  booktitle={European Conference on Computer Vision},
  year={2020}
}
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known $\mathrm{SE}(3)$ invariant, which involves 5 minimal problems in total. These problems reduces the minimal number of point pairs for relative pose estimation and improves the estimation efficiency and robustness. The $\mathrm{SE}(3)$ invariant constraints can come… 

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