@InProceedings{Kukelova-Bujnak-BMVC-2008-InProceedings, IS = { zkontrolovano 18 Jan 2009 }, UPDATE = { 2008-12-23 }, author = {Kukelova, Zuzana and Bujnak, Martin and Pajdla, Tomas}, title = {Polynomial Eigenvalue Solutions to the 5-pt and 6-pt Relative Pose Problems}, year = {2008}, pages = {565-574}, booktitle = {BMVC 2008: Proceedings of the 19th British Machine Vision Conference}, volume = {1}, editor = {M. Everingham and C. Needham and R. Fraile}, publisher = {BMVA}, address = {Malvern, UK}, isbn = {978-1-901725-36-0}, book_pages = {1194}, month = {September}, day = {1-4}, venue = {Leeds, UK}, annote = {In this paper we provide new fast and simple solutions to two important minimal problems in computer vision, the five-point relative pose problem and the six-point focal length problem. We show that these two problems can easily be formulated as polynomial eigenvalue problems of degree three and two and solved using standard efficient numerical algorithms. Our solutions are somewhat more stable than state-of-the-art solutions by Nister and Stewenius and are in some sense more straightforward and easier to implement since polynomial eigenvalue problems are well studied with many efficient and robust algorithms available. The quality of the solvers is demonstrated in experiments.}, keywords = {relative pose, minimal problems, polynomial eigenvalue problem, 6pt problem, 5pt problem}, authorship = {34-33-33}, project = {FP6-IST-027787 DIRAC, MRTN-CT-2004-005439 VISIONTRAIN, MSM6840770038, STINT Dur IG2003-2 062, MSMT Kontakt 9-06-17}, psurl = {[PDF]}, www = { Zuzana Kukelova , Martin Bujnak , Tomas Pajdla }, }