An Efficient Solution to the Five-Point Relative Pose Problem

Nistér, David

doi:10.1109/CVPR.2003.1211470

An Efficient Solution to the Five-Point Relative Pose Problem

David Nistér

CVPR 2003 pp. 195-202

doi:10.1109/CVPR.2003.1211470 /cvpr/2003/nister2003cvpr-efficient/

Abstract

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 motion between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degree polynomial 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. The algorithm is used in a robust hypothesis-and-test framework to estimate structure and motion in real-time.

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Cite

Text

Nistér. "An Efficient Solution to the Five-Point Relative Pose Problem." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2003. doi:10.1109/CVPR.2003.1211470

Markdown

[Nistér. "An Efficient Solution to the Five-Point Relative Pose Problem." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2003.](https://mlanthology.org/cvpr/2003/nister2003cvpr-efficient/) doi:10.1109/CVPR.2003.1211470

BibTeX

@inproceedings{nister2003cvpr-efficient,
  title     = {{An Efficient Solution to the Five-Point Relative Pose Problem}},
  author    = {Nistér, David},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2003},
  pages     = {195-202},
  doi       = {10.1109/CVPR.2003.1211470},
  url       = {https://mlanthology.org/cvpr/2003/nister2003cvpr-efficient/}
}