TL;DR本文提出了一种全局最优且高效的求解 N 点问题的方法，利用半定松弛方法得到该问题的全局最优解，同时提出了使用 M-estimators 处理异常值的鲁棒性 N 点法，并在合成和真实世界数据集上进行了广泛的实验。
Abstract
Finding relative pose between two calibrated images is a fundamental task in
computer vision. Given five point correspondences, the classical five-point
methods can be used to calculate the essential matrix efficiently. For the case
of $N$ ($N > 5$) inlier point correspondences, which