  In this paper, we study closed-form optimal solutions to two-view
triangulation with known internal calibration and pose. By formulating the
triangulation problem as $L_1$ and $L_\infty$ minimization of angular
reprojection errors, we derive the exact closed-form solutions that guarantee
global optimality under respective cost functions. To the best of our
knowledge, we are the first to present such solutions. Since the angular error
is rotationally invariant, our solutions can be applied for any type of central
cameras, be it perspective, fisheye or omnidirectional. Our methods also
require significantly less computation than the existing optimal methods.
Experimental results on synthetic and real datasets validate our theoretical
derivations.
