AbstractEstimatingrelativecameramotionfromtwoviewsisaclassicalproblemincomputervision.Theminimalcaseforsuchproblemistheso-calledfive-point-problem,forwhichthestate-of-the-artsolutionisNist´er’salgorithm[9].However,duetotheheuristicandadhocnatureoftheproceduresitapplies,toimplementit