Affine Correspondences Between Central Cameras for Rapid Relative Pose Estimation

  • Iván EichhardtEmail author
  • Dmitry Chetverikov
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11210)


This paper presents a novel algorithm to estimate the relative pose, i.e. the 3D rotation and translation of two cameras, from two affine correspondences (ACs) considering any central camera model. The solver is built on new epipolar constraints describing the relationship of an AC and any central views. We also show that the pinhole case is a specialization of the proposed approach. Benefiting from the low number of required correspondences, robust estimators like LO-RANSAC need fewer samples, and thus terminate earlier than using the five-point method. Tests on publicly available datasets containing pinhole, fisheye and catadioptric camera images confirmed that the method often leads to results superior to the state-of-the-art in terms of geometric accuracy.


Relative pose Affine correspondences Central cameras 

Supplementary material

474211_1_En_30_MOESM1_ESM.pdf (1.8 mb)
Supplementary material 1 (pdf 1839 KB)


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© Springer Nature Switzerland AG 2018

Authors and Affiliations

  1. 1.MTA SZTAKIBudapestHungary

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