An Iterative 5-pt Algorithm for Fast and Robust Essential Matrix Estimation (with Vincent Lui)

This paper presents a novel algorithm for calculating epipolar geometry from 5 correspondences. The algorithm directly solves for the orientation of each camera relative to the baseline that separates them and is able to impose the half plane constraints that arise from the requirement that visible landmarks must be in front of both cameras. The algo- rithm is conceptually simple, and provides numerically stable solutions that are used as a hypothesis generator within RANSAC. It is significantly faster than existing methods and is comfortably able to provide frame-rate performance on real data.

[2103 BMVC paper]