In this paper we ropose a new method for the estimation of rigid motion from two monocular images when less than eight point corresponences are available. The motion parameters are found using the essential matrix. By employing proviously unused constraints on essential matrix, we show that it can be estimated through the minimisation of a two-dimensional cost function defined over the space of all possible directions of translation. The new formulation is easier to understand and implement than previously proposed approaches, and has a low computational cost. The algorithm has been evaluated on synthetic data. Our experiments show that that the new method is capable of finding all solutions and that choice of initial state is not critical.
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