Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
On the determination of Epipoles using cross-ratios
Computer Vision and Image Understanding
Multiple view geometry in computer vision
Multiple view geometry in computer vision
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
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A novel epipolar angular representation for camera pose is introduced. It leads to a factorisation of the pose rotation matrix into three canonical rotations: around the dual epipole for the second camera, around the z axis, and around the dual epipole for the first camera. If the rotation around the z axis is increased by 90° and followed by the orthogonal projection on xy plane then the factorisation of essential matrix is produced. The proposed five parameter representation of the essential matrix is minimal. It exhibits the fast convergence in LMM optimization algorithm used for camera pose calibration. In such parametrisation the constraints based on the distance to the epipolar plane appeared slightly more accurate than constraints based on the distance to the epipolar line.