An Algorithmic Solution to the Five-Point Pose Problem Based on the Cayley Representation of Rotations
Year: 2011
Type: preprint
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.
Source: arXiv (Cornell University)
Author: Martyushev, Evgeniy
Language: English
Topic: Advanced Vision and Imaging
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W1655360660