Relative Pose Estimation of Calibrated Cameras with Known $\mathrm{SE}(3)$ Invariants

15 Jul 2020Bo LiEvgeniy MartyushevGim Hee Lee

The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known $\mathrm{SE}(3)$ invariant, which involves 5 minimal problems in total... (read more)

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