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We give a new algorithmic solution to the well-known five-point relative poseproblem. Our approach does not deal with the famous cubic constraint on anessential matrix. Instead, we use the Cayley representation of rotations inorder to obtain a polynomial system from epipolar constraints. Solving thatsystem, we directly get relative rotation and translation parameters of thecameras in terms of roots of a 10th degree polynomial.

An Algorithmic Solution to the Five-Point Pose Problem Based on the Cayley Representation of Rotations