Papers › Relative Pose Estimation of Calibrated Cameras with Known SE(3) Invariants
Relative Pose Estimation of Calibrated Cameras with Known SE(3) Invariants
Bo Li, Evgeniy Martyushev, Gim Hee Lee
The 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 SE(3) invariant, which involves 5 minimal problems in total. These problems reduces the minimal number of point pairs for relative pose estimation and improves the estimation efficiency and robustness. The SE(3) invariant constraints can come from extra sensor measurements or motion assumption. Different from conventional relative pose estimation with extra constraints, no extrinsic calibration is required to transform the constraints to the camera frame. This advantage comes from the invariance of SE(3) invariants cross different coordinate systems on a rigid body and makes the solvers more convenient and flexible in practical applications. Besides proposing the concept of relative pose estimation constrained by SE(3) invariants, we present a comprehensive study of existing polynomial formulations for relative pose estimation and discover their relationship. Different formulations are carefully chosen for each proposed problems to achieve best efficiency. Experiments on synthetic and real data shows performance improvement compared to conventional relative pose estimation methods.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Tasks
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections