 Depending on how the error related to each constraint is measured, it is possible to determine or estimate an essential matrix which optimally satisfies the constraints for a given set of corresponding image points.The most straightforward approach is to set up a total least squares problem, commonly known as the eight-point algorithm.Given that the essential matrix has been determined for a stereo camera pair, for example, using the estimation method above this information can be used for determining also the rotation and translation (up to a scaling) between the two camera's coordinate systems.