An Algorithmic Solution to the Five-Point Pose Problem Based on the   Cayley Representation of Rotations
  We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to obtain a polynomial system from epipolar constraints. Solving that system, we directly get relative rotation and translation parameters of the cameras in terms of roots of a 10th degree polynomial. 
Evgeniy Martyushev
cs.CV