1. Zuzana Kukelova, Martin Bujnak, Jan Heller, Tomas Pajdla The Art of Solving Minimal Problems Tricks: Making Minimal Solvers Fast Microsoft Research Cambridge Czech Technical University in Prague Capturing Reality s.r.o. CapturingReality

4. Input equationsElimination template matrix Gauss-Jordan Elimination Multiplication matrix Eigenvalues → Solutions

9. G-J elimination of the elimination template matrix Absolute pose of a camera with unknown focal length 3x speed-up Absolute pose of a camera with unknown focal length and radial distortion 3x speed-up Relative pose for cameras with different radial distortions 5x speed-up