This code uses a five point algorithm in a RANSAC framework to compute a robust initial estimate of the essential matrix.
That estimate is subsequently refined by parameterizing the essential matrix with six parameters (3 for the Rodrigues vector and 3 for the translation vector) and minimizing the cumulative symmetric distance from epipolar lines for RANSAC inliers with the Levenberg–Marquardt algorithm.
NOTE: The code requires several functions by others, see README.txt for further instructions.
See also https://en.wikipedia.org/wiki/Essential_matrix
Manolis Lourakis (2023). Essential Matrix Estimation (https://www.mathworks.com/matlabcentral/fileexchange/67580-essential-matrix-estimation), MATLAB Central File Exchange. Retrieved .
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