A Closed-Form Solution to Rotation Estimation for Structure from Small Motion.

The introduction of small motion techniques such as small angle rotation approximation has enabled the three-dimensional reconstruction from a small motion of a camera, so-called structure from small motion (SfSM). In this letter, we propose a closed-form solution dedicated to the rotation estimation problem in SfSM. We show that our method works with a minimal set of two points, and has mild cond...