Essential Matrix Estimation

Compute the essential matrix from a set of corresponding image projections

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