An Efficient Solution to the Five-Point Relative Pose Problem [David Nistér]
Recent developments on direct relative orientation [Henrik Stewénius, Christopher Engels, David Nistér]
[source code] [matlab]
Five-Point Motion Estimation Made Easy [Hongdong Li and Richard Hartley]
Nghia Ho [source code] [opencv, eigen]
An Iterative 5-pt Algorithm for Fast and Robust Essential Matrix Estimation [Lui,Drummond]