Certifiably Optimal Non-minimal Relative Pose Estimation without Disambiguation

This paper presents a novel approach for directly estimating the correct relative camera pose from correspondences without the need for a post-processing step to enforce the cheirality constraint. The method formulates the relative pose estimation as a Quadratically Constrained Quadratic Program (QCQP) and applies appropriate constraints to ensure the estimation of a camera pose that corresponds to a valid 3D geometry and is globally optimal when certified.