A minimal solution for relative pose with unknown focal length

Research output: Contribution to journalArticle


Assume that we have two perspective images with known intrinsic parameters except for an unknown common focal length. It is a minimally constrained problem to find the relative orientation between the two images given six corresponding points. To this problem which to the best of our knowledge was unsolved we present an efficient solver. Through numerical experiments we demonstrate that the algorithm is correct, numerically stable and useful. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. (c) 2007 Elsevier B.V. All rights reserved.


  • Henrik Stewenius
  • D Nister
  • Fredrik Kahl
  • F Schaffalitzky
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Mathematics


  • Computer Science, Theory & Methods, Electrical & Electronic, Artificial Intelligence, Software Engineering, Optics, Engineering
Original languageEnglish
Pages (from-to)871-877
JournalImage and Vision Computing
Issue number7
Publication statusPublished - 2008
Publication categoryResearch