Five Point Pose Estimation resources

Nister 2004

An Efficient Solution to the Five-Point Relative Pose Problem [David Nistér]

Nister 2006

Recent developments on direct relative orientation [Henrik Stewénius, Christopher Engels, David Nistér]

[source code] [matlab]

Hartley 2006

Five-Point Motion Estimation Made Easy [Hongdong Li and Richard Hartley]

Nghia Ho [source code] [opencv, eigen]

2013

An Iterative 5-pt Algorithm for Fast and Robust Essential Matrix Estimation [Lui,Drummond]