# EXPERIMENTAL EVALUATION OF RELATIVE POSE ESTIMATION ALGORITHMS

### Marcel Brückner, Ferid Bajramovic, Joachim Denzler

#### Abstract

We give an extensive experimental comparison of four popular relative pose (epipolar geometry) estimation algorithms: the eight, seven, six and five point algorithms. We focus on the practically important case that only a single solution may be returned by automatically selecting one of the solution candidates, and investigate the choice of error measure for the selection. We show that the five point algorithm gives very good results with automatic selection. As sometimes the eight point algorithm is better, we propose a combination algorithm which selects from the solutions of both algorithms and thus combines their strengths. We further investigate the behavior in the presence of outliers by using adaptive RANSAC, and give practical recommendations for the choice of the RANSAC parameters. Finally, we verify the simulation results on real data.

#### References

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#### Paper Citation

#### in Harvard Style

Brückner M., Bajramovic F. and Denzler J. (2008). **EXPERIMENTAL EVALUATION OF RELATIVE POSE ESTIMATION ALGORITHMS** . In *Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)* ISBN 978-989-8111-21-0, pages 431-438. DOI: 10.5220/0001073704310438

#### in Bibtex Style

@conference{visapp08,

author={Marcel Brückner and Ferid Bajramovic and Joachim Denzler},

title={EXPERIMENTAL EVALUATION OF RELATIVE POSE ESTIMATION ALGORITHMS},

booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},

year={2008},

pages={431-438},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0001073704310438},

isbn={978-989-8111-21-0},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)

TI - EXPERIMENTAL EVALUATION OF RELATIVE POSE ESTIMATION ALGORITHMS

SN - 978-989-8111-21-0

AU - Brückner M.

AU - Bajramovic F.

AU - Denzler J.

PY - 2008

SP - 431

EP - 438

DO - 10.5220/0001073704310438