An Alternative Formulation for the Five Point Relative Pose Problem


Dhruv Batra, Bart Nabbe, Martial Hebert


Epipolar matrix estimation, minimal correspondences, Quadratically constrained quadratic programming (QCQP)

Figure 1: (Left) Two camera setup with minimal case of five point correspondences; (Right) Geometry of the setup used to create test data.


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.


(Poster) Dhruv Batra, Bart Nabbe, and Martial Hebert. An Alternative Formulation for the Five Point Relative Pose Problem. IEEE Workshop on Motion and Video Computing 2007 (WMVC '07).
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