# Affine Correspondences between Multi-Camera Systems for Relative Pose Estimation

arXiv: https://arxiv.org/abs/2306.12996 · HTML: https://mlsanity.com/paper/2306.12996/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 65 references that are in the map.
- First posted on arXiv 22 Jun 2023.

## Builds on (most cited first, 11 of 11)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection](https://mlsanity.com/paper/1708.09839/) (2017)
- [Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System](https://mlsanity.com/paper/1809.05477/) (2018)
- [Making Affine Correspondences Work in Camera Geometry Computation](https://mlsanity.com/paper/2007.10032/) (2020)
- [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 Cases for Computing the Generalized Relative Pose using Affine Correspondences](https://mlsanity.com/paper/2007.10700/) (2020)
- [Efficient Relative Pose Estimation for Cameras and Generalized Cameras in Case of Known Relative Rotation Angle](https://mlsanity.com/paper/1901.11357/) (2019)
- [POSEAMM: A Unified Framework for Solving Pose Problems using an Alternating Minimization Method](https://mlsanity.com/paper/1904.04858/) (2019)
- [Relative Pose Estimation of Calibrated Cameras with Known SE(3) Invariants](https://mlsanity.com/paper/2007.07686/) (2020)

## Built on by (most cited first, 13 of 13)

- [Six-Point Method for Multi-Camera Systems with Reduced Solution Space](https://mlsanity.com/paper/2402.18066/) (2024)
- [Learning Affine Correspondences by Integrating Geometric Constraints](https://mlsanity.com/paper/2504.04834/) (2025)
- [Fusion-Restoration Image Processing Algorithm to Improve the High-Temperature Deformation Measurement](https://mlsanity.com/paper/2601.12682/) (2026)
- [Globally Optimal Solution to the Generalized Relative Pose Estimation Problem using Affine Correspondences](https://mlsanity.com/paper/2512.17188/) (2025)
- [A Pose-only Geometric Constraint for Multi-Camera Pose Adjustment](https://mlsanity.com/paper/2604.23704/) (2026)
- [A Hardware-Algorithm Co-Designed Framework for HDR Imaging and Dehazing in Extreme Rocket Launch Environments](https://mlsanity.com/paper/2601.08162/) (2026)
- [High Dynamic Range Imaging Based on an Asymmetric Event-SVE Camera System](https://mlsanity.com/paper/2603.00467/) (2026)
- [A Geometric Framework for Absolute Pose and Velocity Estimation with Event Cameras](https://mlsanity.com/paper/2606.09139/) (2026)
- [Minimal Solvers for Full-DoF Motion Estimation from Asynchronous Differential SfM](https://mlsanity.com/paper/2606.09218/) (2026)
- [An Opticalmechanics Framework for Dynamic Estimation of Multibody Systems](https://mlsanity.com/paper/2606.09383/) (2026)
- [Efficient Minimal Solvers for Visual-Inertial Relative Pose Estimation in Multi-Camera Systems](https://mlsanity.com/paper/2606.09477/) (2026)
- [Efficient Minimal Solvers for Relative Pose Estimation in Autonomous Driving Applications](https://mlsanity.com/paper/2606.09569/) (2026)
- [Calousel: Extrinsic Calibration of Non-overlapping Multi-camera Systems from Pure Rotation](https://mlsanity.com/paper/2606.25646/) (2026)

## Abstract (arXiv)

We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have too high computational complexity, or require too many point correspondences (PCs). Thus, these solvers impede an efficient or accurate relative pose estimation when applying RANSAC as a robust estimator. This paper shows that the 6DOF relative pose estimation problem using ACs permits a feasible minimal solution, when exploiting the geometric constraints between ACs and multi-camera systems using a special parameterization. We present a problem formulation based on two ACs that encompass two common types of ACs across two views, i.e., inter-camera and intra-camera. Moreover, the framework for generating the minimal solvers can be extended to solve various relative pose estimation problems, e.g., 5DOF relative pose estimation with known rotation angle prior. Experiments on both virtual and real multi-camera systems prove that the proposed solvers are more efficient than the state-of-the-art algorithms, while resulting in a better relative pose accuracy. Source code is available at https://github.com/jizhaox/relpose-mcs-depth.