“…We apply the theory to create an efficient solution to the 3-view 4-point perspective pose problem (3v4p problem for short), which amounts to finding the relative poses of three calibrated perspective cameras given 4 corresponding point triplets. The 3v4p problem is notoriously difficult to solve, but has a unique solution in general (Holt and Netravali, 1995;Quan et al, 2003aQuan et al, , 2003b. It is in fact overconstrained by one, meaning that in general four point triplets can not be realised as the three calibrated images of four common world points.…”