Polynomial Eigenvalue Solutions to the 5-pt and 6-pt Relative Pose Problems
Zuzana Kúkelová, Martin Bujnak, Tomáš Pajdla · 2008
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 1. 1