A Critical Review of the Trifocal Tensor Estimation

  • Laura F. Julià
  • Pascal Monasse
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10749)


We explore the advantages offered by the trifocal tensor in the pose estimation of a triplet of cameras as opposed to computing the relative poses pair by pair with the fundamental matrix. Theoretically, the trinilearities characterize uniquely three corresponding image points in a tighter way than the three epipolar equations and this translates in an increasing accuracy. However, we show that this initial improvement is not enough to have a remarkable impact on the pose estimation after bundle adjustment, and the use of the fundamental matrix with image triplets remains relevant.


Trifocal tensor Fundamental matrix Pose estimation 


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© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.LIGM (UMR 8049), École des Ponts, UPEChamps-sur-MarneFrance

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