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We study the influence of numerical conditioning on the accuracy of two closed-form solutions to the overconstrained relative orientation problem. We consider the well known eight-point algorithm and the recent five-point algorithm, and evaluate changes in their performance due to Hartley's normalization and Muehlich's equilibration. The need for numerical conditioning is introduced by explaining the known occurence of the bias of the eight-point algorithm towards the forward motion. Then it isdoi:10.1109/cvpr.2007.383351 dblp:conf/cvpr/SegvicSP07 fatcat:ze2mbpbsozcirofqvpsix6pb6m