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In this paper, we study closed-form optimal solutions to two-viewtriangulation with known internal calibration and pose. By formulating thetriangulation problem as $L_1$ and $L_\infty$ minimization of angularreprojection errors, we derive the exact closed-form solutions that guaranteeglobal optimality under respective cost functions. To the best of ourknowledge, we are the first to present such solutions. Since the angular erroris rotationally invariant, our solutions can be applied for any type of centralcameras, be it perspective, fisheye or omnidirectional. Our methods alsorequire significantly less computation than the existing optimal methods.Experimental results on synthetic and real datasets validate our theoreticalderivations.

Closed-Form Optimal Two-View Triangulation Based on Angular Errors