  Erwin Kruppa's 1913 paper, Erwin Kruppa, "Zur Ermittlung eines Objektes aus
zwei Perspektiven mit innerer Orientierung", Sitzungsberichte der
Mathematisch-Naturwissenschaftlichen Kaiserlichen Akademie der Wissenschaften,
Vol. 122 (1913), pp. 1939-1948, which may be translated as "To determine a 3D
object from two perspective views with known inner orientation", is a landmark
paper in Computer Vision because it provides the first five-point algorithm for
relative pose estimation. Kruppa showed that (a finite number of solutions for)
the relative pose between two calibrated images of a rigid object can be
computed from five point matches between the images. Kruppa's work also gained
attention in the topic of camera self-calibration, as presented in (Maybank and
Faugeras, 1992). Since the paper is still relevant today (more than a hundred
citations within the last ten years) and the paper is not available online, we
ordered a copy from the German National Library in Frankfurt and provide an
English translation along with the German original. We also adapt the
terminology to a modern jargon and provide some clarifications (highlighted in
sans-serif font). For a historical review of geometric computer vision, the
reader is referred to the recent survey paper (Sturm, 2011).
