Geodesic
Algorithmic solution of the five-point pose problem based on the Cayley representation of rotation matrices
Vestnik Ûžno-Uralʹskogo gosudarstvennogo universiteta. Seriâ, Matematika, mehanika, fizika, Tome 5 (2013) no. 2, pp. 31-38

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A new algorithmic solution to the five-point relative pose problem is introduced. Our approach is not connected with or based on the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotation matrices in order to obtain a polynomial system of equations from epipolar constraints. Solving that system, we directly obtain positional relationships and orientations of the cameras through the roots for a 10th degree polynomial.
Keywords: five-point pose problem; calibrated camera; epipolar constraints; Cayley representation. 
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     author = {E. V. Martyushev},
     title = {Algorithmic solution of the five-point pose problem based on the {Cayley} representation of rotation matrices},
     journal = {Vestnik \^U\v{z}no-Uralʹskogo gosudarstvennogo universiteta. Seri\^a, Matematika, mehanika, fizika},
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     publisher = {mathdoc},
     volume = {5},
     number = {2},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VYURM_2013_5_2_a3/}
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E. V. Martyushev. Algorithmic solution of the five-point pose problem based on the Cayley representation of rotation matrices. Vestnik Ûžno-Uralʹskogo gosudarstvennogo universiteta. Seriâ, Matematika, mehanika, fizika, Tome 5 (2013) no. 2, pp. 31-38. http://geodesic.mathdoc.fr/item/VYURM_2013_5_2_a3/