Algorithm 1: Pose estimation by manual selection of corresponding points

Input: a set of $\mathcal{N}$ corresponding points selected manually from two cameras.

Output: the best transformation matrix which maximizes the number of inliers.

Initialization:

the best matrix $=I$ the best no. of inliers $=0$

Procedure:

Find the nearest feature points to the corresponding points. Obtain the map points that represent the feature points determined in Step 1. Randomly select three points out of $\mathcal{N}$ points. Calculate the transformation matrix using Horn’s method. Calculate the no. of inliers based on the re-projection error. If no. of inliers > the best no. of inliers, set the best no. of inliers = no. of inliers and the best transformation matrix = the transformation matrix. If there is a group of points that have not been selected before, go to Step 3. Else, return the best transformation matrix.