# On Relative Pose Recovery for Multi-Camera Systems

arXiv: https://arxiv.org/abs/2102.11996 · HTML: https://mlsanity.com/paper/2102.11996/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 77 references that are in the map.
- First posted on arXiv 24 Feb 2021.

## Builds on (most cited first, 18 of 18)

- [Beyond Gr"obner Bases: Basis Selection for Minimal Solvers](https://mlsanity.com/paper/1803.04360/) (2018)
- [A clever elimination strategy for efficient minimal solvers](https://mlsanity.com/paper/1703.05289/) (2017)
- [An Efficient Solution to Non-Minimal Case Essential Matrix Estimation](https://mlsanity.com/paper/1903.09067/) (2019)
- [A Minimal Solution for Two-view Focal-length Estimation using Two Affine Correspondences](https://mlsanity.com/paper/1706.01649/) (2017)
- [Making Affine Correspondences Work in Camera Geometry Computation](https://mlsanity.com/paper/2007.10032/) (2020)
- [Minimal Solutions for Relative Pose with a Single Affine Correspondence](https://mlsanity.com/paper/1912.10776/) (2019)
- [Five-point Fundamental Matrix Estimation for Uncalibrated Cameras](https://mlsanity.com/paper/1803.00260/) (2018)
- [Homography from two orientation- and scale-covariant features](https://mlsanity.com/paper/1906.11927/) (2019)
- [Relative planar motion for vehicle-mounted cameras from a single affine correspondence](https://mlsanity.com/paper/1912.06465/) (2019)
- [Relative Pose from Deep Learned Depth and a Single Affine Correspondence](https://mlsanity.com/paper/2007.10082/) (2020)
- [Minimal Solvers for Rectifying from Radially-Distorted Conjugate Translations](https://mlsanity.com/paper/1911.01507/) (2019)
- [Efficient Relative Pose Estimation for Cameras and Generalized Cameras in Case of Known Relative Rotation Angle](https://mlsanity.com/paper/1901.11357/) (2019)
- [Quaternion Based Camera Pose Estimation From Matched Feature Points](https://mlsanity.com/paper/1704.02672/) (2017)
- [Resultant Based Incremental Recovery of Camera Pose from Pairwise Matches](https://mlsanity.com/paper/1901.09364/) (2019)
- [Robust and Efficient Relative Pose with a Multi-camera System for Autonomous Vehicle in Highly Dynamic Environments](https://mlsanity.com/paper/1605.03689/) (2016)
- [Relative Pose Estimation of Calibrated Cameras with Known SE(3) Invariants](https://mlsanity.com/paper/2007.07686/) (2020)
- [Recovering affine features from orientation- and scale-invariant ones](https://mlsanity.com/paper/1807.03503/) (2018)
- [Minimal Solvers for Indoor UAV Positioning](https://mlsanity.com/paper/2003.07111/) (2020)

## Built on by (most cited first, 1 of 1)

- [Globally Optimal Solution to the Generalized Relative Pose Estimation Problem using Affine Correspondences](https://mlsanity.com/paper/2512.17188/) (2025)

## Abstract (arXiv)

The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work demonstrates that one AC generally provides three independent constraints for relative pose estimation. For multi-camera systems, there is still not any AC-based minimal solver for general relative pose estimation. To deal with this problem, we propose a complete solution to relative pose estimation from two ACs for multi-camera systems, consisting of a series of minimal solvers. The solver generation in our solution is based on Cayley or quaternion parameterization for rotation and hidden variable technique to eliminate translation. This solver generation method is also naturally applied to relative pose estimation from PCs, resulting in a new six-point method for multi-camera systems. A few extensions are made, including relative pose estimation with known rotation angle and/or with unknown focal lengths. Extensive experiments demonstrate that the proposed AC-based solvers and PC-based solvers are effective and efficient on synthetic and real-world datasets.