Abstract: Camera pose estimation is the key technology of 3D registration. At present, based on the fundamental matrix estimation, the eight-point algorithm is the most popular, but the eight-point algorithm is obvious degradation in the case of planar scene. In order to expand the application scope of the scene in the ancient ruins of indoor environment registration application, the two algorithms based on the five-point algorithm and eight-point algorithm are studied by computer vision. Using the box structure as the environmental structure of ancient buildings, the experimental results show that five-point algorithm than eight-point algorithm has higher accuracy in the recovery of 3D model.

Key words: registration, five-point algorithm, eight-point algorithm, ancient buildings, computer vision, 3D model