An efficient solution to the five-point relative pose problem
Abstract
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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- Authors
- Nister, D.
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 2004-06
- Volume
- 26
- Issue
- 6
- Pages
- 756-770
- ISSN
- 0162-8828 (ISSN-L)
- OpenAlex
- W2109635530
- Cited by
- 2,009
- References
- 3
- Citations by year
- 2026: 37 · 2025: 56 · 2024: 89 · 2023: 97 · 2022: 108 · 2021: 117 · 2020: 143 · 2019: 123 · 2018: 123 · 2017: 130 · 2016: 98 · 2015: 128 · 2014: 106 · 2013: 103 · 2012: 112
- FWCI
- 39.21
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Pattern Analysis and Machine Intelligence (publishedVersion)
- PubMed (publishedVersion)
- Funders
- Army Research Laboratory
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Physical Sciences › Earth and Planetary Sciences › Geology › 3D Surveying and Cultural Heritage
- Keywords
- camera pose estimation, corresponding points, analytical solution, numerical precision, noise robustness, real-time visual tracking
- MeSH terms
- Algorithms, Artificial Intelligence, Image Enhancement, Image Interpretation, Computer-Assisted, Pattern Recognition, Automated, Photography, Imaging, Three-Dimensional
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