Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Minimal Cases for Computing the Generalized Relative Pose using Affine
  Correspondences   We propose three novel solvers for estimating the relative pose of a
multi-camera system from affine correspondences (ACs). A new constraint is
derived interpreting the relationship of ACs and the generalized camera model.
Using the constraint, we demonstrate efficient solvers for two types of motions
assumed. Considering that the cameras undergo planar motion, we propose a
minimal solution using a single AC and a solver with two ACs to overcome the
degenerate case. Also, we propose a minimal solution using two ACs with known
vertical direction, e.g., from an IMU. Since the proposed methods require
significantly fewer correspondences than state-of-the-art algorithms, they can
be efficiently used within RANSAC for outlier removal and initial motion
estimation. The solvers are tested both on synthetic data and on real-world
scenes from the KITTI odometry benchmark. It is shown that the accuracy of the
estimated poses is superior to the state-of-the-art techniques.

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The categories of this paper are: atom-ph
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The categories of this paper are: hep-ex
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The categories of this paper are: plasm-ph
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The categories of this paper are: nlin
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The categories of this paper are: quant-ph
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The categories of this paper are: supr-con
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The categories of this paper are: math
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The categories of this paper are: mtrl-th
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The categories of this paper are: comp-gas
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The categories of this paper are: nucl-th
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The categories of this paper are: dg-ga
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The categories of this paper are: funct-an
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The categories of this paper are: physics
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The categories of this paper are: hep-ph
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The categories of this paper are: gr-qc
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The categories of this paper are: q-alg