The paper derives two new minimal solvers for stereo relative pose from triplets of points or lines and classifies all minimal cases with three correspondences each having three projections.
IEEE transactions on pattern analysis and machine intelligence 25(8) (2003) 930–943
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Stereo relative pose from line and point feature triplets
The paper derives two new minimal solvers for stereo relative pose from triplets of points or lines and classifies all minimal cases with three correspondences each having three projections.