The optimal triangulation method is not really optimal

Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple images taken at different camera poses. For solving this problem, it is common practice use so-called optimal triangulation method. But, method can be only if we assume no uncertainty in parameters. In paper, an extensive comparison between various existing methods for calibrated cameras performed, which poses are considered. Furthermore, sensitivity analysis conducted extrinsic parameters cameras. The results show that actually not best choice when there Interestingly, observed simple midpoint works equally well or outperforms and many other methods. Apart high performance, has closed form solution views while hard used more than two views. Therefore, contrast practice, argue good structure-from-motion process where