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An Algorithmic Solution to the Five-Point Pose Problem Based on the Cayley Representation of Orthogonal Matrices

We give a new algorithmic solution to the well-known five-point pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of orthogonal matrices in order to obtain a polynomial system from epipolar constraints. Solving that system, we directly get a rotation matrix and translation vector of the second camera.