Minimal Solvers for Relative Pose Estimation of Multi-Camera Systems using Affine Correspondences

We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting relationship ACs and generalized camera model. Using constraint, we demonstrate efficient two types motions. Considering that cameras undergo planar motion, minimal solution using single AC solver with to overcome degenerate case. Also, (a number one point correspondence) known vertical direction, e.g., an IMU. Since proposed methods require significantly fewer than state-of-the-art algorithms, they can be efficiently used within RANSAC outlier removal initial motion estimation. The are tested both on synthetic data real-world scenes. It shown accuracy estimated poses superior techniques. Source code released at https://github.com/jizhaox/relative_pose_gcam_affine .