An Alternative Formulation for Five Point Relative Pose Problem

Authors:
Dhruv Batra;Bart Nabbe;Martial Hebert
Affiliations:
Carnegie Mellon University;Intel Research Pittsburgh;Carnegie Mellon University
Venue:
WMVC '07 Proceedings of the IEEE Workshop on Motion and Video Computing
Year:
2007

Citing 0
Cited 2

A New Solution to the Relative Orientation Problem Using Only 3 Points and the Vertical Direction

Journal of Mathematical Imaging and Vision
FPGA implementation of the robust essential matrix estimation with RANSAC and the 8-point and the 5-point method

Facing the Multicore-Challenge II

Quantified Score

Hi-index	0.01

Visualization

Abstract

The "Five Point Relative Pose Problem" is to find all possible camera configurations between two calibrated views of a scene given five point-correspondences. We take a fresh look at this well-studied problem with an emphasis on the parametrization of Essential Matrices used by various methods over the years. Using one of these parametrizations, a novel algorithm is proposed, in which the solution to the problem is encoded in a system of nine quadratic equations in six variables, and is reached by formulating this as a constrained optimization problem. We compare our algorithm with an existing 5-point method, and show our formulation to be more robust in the presence of noise.