Relative pose estimation using point correspondences (PC) is a widely used
technique. A minimal configuration of six PCs is required for generalized
cameras. In this paper, we present several minimal solvers that use six PCs to
compute the 6DOF relative pose of a multi-camera system, including a minimal
solver for the generalized camera and two minimal solvers for the practical
configuration of two-camera rigs. The equation construction is based on the
decoupling of rotation and translation. Rotation is represented by Cayley or
quaternion parametrization, and translation can be eliminated by using the
hidden variable technique. Ray bundle constraints are found and proven when a
subset of PCs relate the same cameras across two views. This is the key to
reducing the number of solutions and generating numerically stable solvers.
Moreover, all configurations of six-point problems for multi-camera systems are
enumerated. Extensive experiments demonstrate that our solvers are more
accurate than the state-of-the-art six-point methods, while achieving better
performance in efficiency.

使用点对应（PC）进行相对姿态估计是一种广泛应用的技术，本文提出了几种最小求解器，使用六个 PC 来计算多相机系统的六自由度相对姿态，包括广义相机的最小求解器和两个用于实际配置的双相机架构的最小求解器。