5-pt relative pose problem
 
Problem:
Estimating relative pose of two fully-calibrated cameras from five image point correspondences.

5-pt relative pose problem
 
Publications:
  1. D. Batra, B. Nabbe, M. Hebert, An alternative formulation for five point relative pose problem. IEEE Workshop on Motion and Video Computing, 2007. [pdf | http]
  2. E. Kruppa, Zur Ermittlung eines Objektes aus zwei Perspektiven mit Innerer Orientierung, Sitz.-Ber. Akad.Wiss.,Wien, Math. Naturw. Kl., Abt. IIa., 122:1939-1948, 1918.
  3. Z. Kukelova, M. Bujnak, T. Pajdla, Automatic Generator of Minimal Problem Solvers, ECCV 2008, (to appear). [pdf | http | code]
  4. Z. Kukelova, M. Bujnak, T. Pajdla, Polynomial eigenvalue solutions to the 5-pt and 6-pt relative pose problems, BMVC 2008, (to appear) [pdf | http | code]
  5. H. Li and R. Hartley. Five-point motion estimation made easy. ICPR 2006, pp. 630–633.[pdf | http | code]
  6. D. Nister. An efficient solution to the five-point relative pose problem. IEEE PAMI, 26(6):756–770, 2004. [pdf | http | code]
  7. J. Philip. A Non-Iterative Algorithm for Determining all Essential Matrices Corresponding to Five Point Pairs Photogrammetric Record, 15(88):589-599, 1996.[http]
  8. H. Stewenius, C. Engels, and D. Nister. Recent developments on direct relative orientation. ISPRS J. of Photogrammetry and Remote Sensing, 60:284–294, 2006. [pdf | http | code]
Code:
  • Stewenius' Groebner basis solver [8] (Matlab+mex) [link]
  • Nister's solver [6] (Matlab) [link]
  • Li's Hidden variable solver [5] (Matlab) [source code]
  • Greobner basis solver generated using Automatic generator [3] (Matlab) [source code]
  • Greobner basis solver generated using Automatic generator [3] (C) [source code]
  • Polynomial eigenvalue solution [4] (Matlab) [source code]
Evaluation: