  Relative pose estimation using point correspondences (PC) is a widely used
technique. A minimal configuration of six PCs is required for generalized
cameras. In this paper, we present several minimal solvers that use six PCs to
compute the 6DOF relative pose of a multi-camera system, including a minimal
solver for the generalized camera and two minimal solvers for the practical
configuration of two-camera rigs. The equation construction is based on the
decoupling of rotation and translation. Rotation is represented by Cayley or
quaternion parametrization, and translation can be eliminated by using the
hidden variable technique. Ray bundle constraints are found and proven when a
subset of PCs relate the same cameras across two views. This is the key to
reducing the number of solutions and generating numerically stable solvers.
Moreover, all configurations of six-point problems for multi-camera systems are
enumerated. Extensive experiments demonstrate that our solvers are more
accurate than the state-of-the-art six-point methods, while achieving better
performance in efficiency.
