Two-View Geometry estimation using the Rodrigues Rotation Formula

The paper presents the applicability of the Rodrigues Rotation Formula (RRF) in the context of Two-Views Geometry estimation. The Epipolar Constraint is usually formulated as the belonging of an image point to its corresponding Epipolar Line, instead using the RRF we will arrange the same constraint in terms of equivalence between 3D unit-norm vectors. This alternative formulation generates a geometrically meaningful error measure, which according to the presented results, provides a significant improvement of the estimation accuracy with respect to the widely used Sampson error, still maintaining a comparable computational cost.