An efficient solution to the five-point relative pose problem

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 degre...

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Bibliographic Details
Published in:IEEE transactions on pattern analysis and machine intelligence Vol. 26; no. 6; pp. 756 - 770
Main Author: Nister, D.
Format: Journal Article
Language:English
Published: United States IEEE 01.06.2004
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Artificial Intelligence
Calibration
camera calibration
Cameras
Delay estimation
ego-motion estimation
Geometry
Image Enhancement - methods
Image Interpretation, Computer-Assisted - methods
Imaging geometry
Imaging, Three-Dimensional - methods
Layout
motion
Motion estimation
Noise robustness
Pattern Recognition, Automated - methods
Photography - methods
Polynomials
Real time systems
relative orientation
scene reconstruction
Sparse matrices
structure from motion
ISSN:0162-8828, 1939-3539
Online Access:Get full text
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Summary: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 overdetermined 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.
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ISSN:0162-8828
1939-3539
DOI:10.1109/TPAMI.2004.17