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An Algorithmic Solution to the Five-Point Pose Problem Based on the Cayley Representation of Rotations

Authors
  • Martyushev, Evgeniy
Type
Preprint
Publication Date
Feb 02, 2013
Submission Date
May 19, 2011
Source
arXiv
License
Yellow
External links

Abstract

We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to obtain a polynomial system from epipolar constraints. Solving that system, we directly get relative rotation and translation parameters of the cameras in terms of roots of a 10th degree polynomial.

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