Solving the rotation-estimation problem by using the perspective three-point algorithm

We present a closed-form solution for the rotation-estimation problem, by introducing the same algorithm used for solving the perspective three-point problem. The rotation-estimation problem is defined as estimating the relative rotation of two camera images when the translation is known. The perspective three-point problem, in which the pose of a single camera is estimated from the location of three points, is a classical problem in the field of computer vision, and a closed-form solution for it has already been established. The two problems are not obviously similar, but we show by making some parameter exchanges that they are essentially equivalent. Actual applications using the rotation-estimation problem are also explained