An Efficient Solution to the Five-Point Relative Pose Problem

An Efficient Solution to the Five-Point Relative Pose Problem (2004)

by David Nister

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Datum	Value	Source
TITLE	An Efficient Solution to the Five-Point Relative Pose Problem	SVM HeaderParse 0.2
AUTHOR NAME	David Nister	user correction
AUTHOR AFFIL	Sarnoff Corporation CN5300, Princeton, NJ 08530	user correction
ABSTRACT	An efficient algorithmic solution to the classical five-point relative pose problem is presented. The problem is to find the possible solutions for relative camera pose between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degree polynomial in closed form and subsequently finding its roots. It is the first algorithm well suited for numerical implementation that also corresponds to the inherent complexity of the problem. We investigate the numerical precision of the algorithm. We also study its performance under noise in minimal as well as over-determined cases. The performance is compared to that of the well known 8 and 7-point methods and a 6-point scheme. The algorithm is used in a robust hypothesize-and-test framework to estimate structure and motion in real-time with low delay. The real-time system uses solely visual input and has been demonstrated at major conferences.	SVM HeaderParse 0.2
YEAR	2004	user correction
CITATIONS	49 found	ParsCit 1.0