# Translation of "Zur Ermittlung eines Objektes aus zwei Perspektiven mit innerer Orientierung" by Erwin Kruppa (1913)

arXiv: https://arxiv.org/abs/1801.01454 · HTML: https://mlsanity.com/paper/1801.01454/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Dec 2017.

## Built on by (most cited first, 2 of 2)

- [Boost 3D Reconstruction using Diffusion-based Monocular Camera Calibration](https://mlsanity.com/paper/2411.17240/) (2024)
- [Minimal Perspective Autocalibration](https://mlsanity.com/paper/2405.05605/) (2024)

## Abstract (arXiv)

Erwin Kruppa's 1913 paper, Erwin Kruppa, "Zur Ermittlung eines Objektes aus zwei Perspektiven mit innerer Orientierung", Sitzungsberichte der Mathematisch-Naturwissenschaftlichen Kaiserlichen Akademie der Wissenschaften, Vol. 122 (1913), pp. 1939-1948, which may be translated as "To determine a 3D object from two perspective views with known inner orientation", is a landmark paper in Computer Vision because it provides the first five-point algorithm for relative pose estimation. Kruppa showed that (a finite number of solutions for) the relative pose between two calibrated images of a rigid object can be computed from five point matches between the images. Kruppa's work also gained attention in the topic of camera self-calibration, as presented in (Maybank and Faugeras, 1992). Since the paper is still relevant today (more than a hundred citations within the last ten years) and the paper is not available online, we ordered a copy from the German National Library in Frankfurt and provide an English translation along with the German original. We also adapt the terminology to a modern jargon and provide some clarifications (highlighted in sans-serif font). For a historical review of geometric computer vision, the reader is referred to the recent survey paper (Sturm, 2011).