Hartley, Richard; Li, Hongdong
In this paper, we present an efficient new approach for solving two-view minimal-case problems in camera motion estimation, most notably the so-called five-point relative orientation problem and the six-point focal-length problem. Our approach is based on the hidden variable technique used in solving multivariate polynomial systems. The resulting algorithm is conceptually simple, which involves a relaxation which replaces monomials in all but one of the variables to reduce the problem to the...[Show more]
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