  The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and
screw translation. In this paper, we present a complete comprehensive study of
the relative pose estimation problem for a calibrated camera constrained by
known $\mathrm{SE}(3)$ invariant, which involves 5 minimal problems in total.
These problems reduces the minimal number of point pairs for relative pose
estimation and improves the estimation efficiency and robustness. The
$\mathrm{SE}(3)$ invariant constraints can come from extra sensor measurements
or motion assumption. Different from conventional relative pose estimation with
extra constraints, no extrinsic calibration is required to transform the
constraints to the camera frame. This advantage comes from the invariance of
$\mathrm{SE}(3)$ invariants cross different coordinate systems on a rigid body
and makes the solvers more convenient and flexible in practical applications.
  Besides proposing the concept of relative pose estimation constrained by
$\mathrm{SE}(3)$ invariants, we present a comprehensive study of existing
polynomial formulations for relative pose estimation and discover their
relationship. Different formulations are carefully chosen for each proposed
problems to achieve best efficiency. Experiments on synthetic and real data
shows performance improvement compared to conventional relative pose estimation
methods.
