From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation

arXiv:2312.05995v2 Announce Type: replace
Abstract: Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and 2) disambiguating among the four candidate relative poses that satisfy the epipolar geometry. In this paper, we demonstrate a novel approach that, for the first time, bypasses the second stage. Specifically, we show that it is possible to directly …

arxiv cs.cv type