The commonly used reconstruction method from images acquired by a calibrated camera but with unknownmotion parameters is the essential matrix based one in the literature

i.e.

from the essential matrix to decompose therotation matrix and translation vector at first

then to reconstruct the scene by the standard stereo method.A less well-known and conceptually rather more abstract method is the so-called absolute dual quadric based method.However

basedon extensive experiments on simulated data as well as on real images

we showed that the absolute dual quadric basedmethod consistently outperforms the essential matrix based one in terms of reconstruction accuracy and robustness

hence itis highly recommended to use the absolute dual quadric based method rather than the commonly used essential matrix basedone in practice.