A Non-Iterative Algorithm for Determining All Essential Matrices Corresponding to Five Point Pairs



This paper describes how to calculate all the essential matrices corresponding to five matched point pairs. Statistics are presented from tests with synthetic data and an example is given which has six solutions. A linear method for six point pairs is also described; the resultant essential matrix is uniquely determined by the six point pairs because the method is linear. The author also reviews some results, that have applications to photogrammetry, from other researchers in this field.