A New Analytical Method for Relative Camera Pose Estimation Using Unknown Coplanar Points

We present a new analytical method for solving the problem of relative camera pose estimation. This method first calculates the homography matrix between two calibrated views using unknown coplanar points, and then, it decomposes the matrix to estimate the relative camera pose. We derive a set of new analytical expressions that are more concise than other homography decomposition methods. These analytical expressions are also used to improve the efficiency of a traditional SVD-based homography decomposition method. The performance of our analytical method is studied in terms of both efficiency and accuracy, and it is compared with other homography decomposition methods. Furthermore, the accuracy of our analytical method is tested under different conditions and compared with that of the five-point method through simulations and real image experiments. The experimental results demonstrate that our method is faster and more accurate than other homography decomposition methods and more accurate than the five-point method.