Fig. 1. Processing flow of proposed method

Fig. 2. Plücker coordinates of line in 3D Euclidean space

Fig. 3. Generalized camera polar geometric constraints

Fig. 4. Error of relative pose under different motion condition after adding noise. (a)(b) Forward motion; (c)(d) random motion; (e)(f) sideways motion

Fig. 5. Schematic of translation vector simulating image coordinate change

Fig. 6. Distinguishing effects of different images. (a) 2021^th frame of left camera; (b) 2021^th frame of right camera; (c) 2022^th frame of left camera; (d) 2022^th frame of right camera

Fig. 7. Error distribution curves of pose estimation. (a) Rotation matrix error; (b) translation vector error