Solutions to Minimal Generalized Relative Pose Problems

@inproceedings{Stewnius2005SolutionsTM,
  title={Solutions to Minimal Generalized Relative Pose Problems},
  author={Henrik Stew{\'e}nius and David Nist{\'e}r and Magnus Oskarsson and Karl Johan {\AA}str{\"o}m},
  year={2005}
}
We present a method to obtain the solutions to the generalized 6-point relative pose problem. The problem is to find the relative positions of two generalized cameras so that six corresponding image rays meet in space. Here, a generalized camera is a camera that captures some arbitrary set of rays and does not adhere to the central perspective projection model. The cameras are assumed to be calibrated, which means that we know the image rays in Euclidean camera coordinate systems… CONTINUE READING

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