Abstract

This paper presents a novel version of the five-point relative orientation algorithm given in Nister (2004). The name of the algorithm arises from the fact that it can operate even on the minimal five point correspondences required for a finite number of solutions to relative orientation. For the minimal five correspondences the algorithm returns up to ten real solutions. The algorithm can also operate on many points. Like the previous version of the five-point algorithm, our method can operate correctly even in the face of critical surfaces, including planar and ruled quadric scenes. The paper

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