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I took a look at the Opencv Code and it seems that only five points are randomly chosen among all the feature points to compute the essential matrix. So I suppose that the error depends on which points are chosen and cv::RNG::uniform(0,count) is used to choose the points (with count == the number of feature points given to findEssentialMatrix). A priori there is no real solution. I choose randomly six points and if the essential matrix is not good, I compute it again. (Thanks LBerger for your time)