Efficient relative pose estimation for cameras and generalized cameras in case of known relative rotation angle (Q2217373)

The problem of relative pose estimation of a moving camera consists in determining the current camera pose, i.e. the position and orientation of the camera, with respect to a coordinate frame related to its previous position. The standard tool for this purpose is the 5-point algorithm, which is known to be minimal, because the associated polynomial ideal is in this case zero-dimensional. In the paper under review, the authors deal with presenting two minimal solvers to this problem for a camera with known relative rotation angle. In this directions, they describe the 4-point algorithm for regular cameras as well as the similar 5-point approach for generalized cameras. These problems are indeed formulated in terms of polynomial equations and to find the solutions of the corresponding systems, effective methods based on Gröbner bases are applied. Experiments on synthetic and real datasets show that the described algorithms are numerically efficient.