# Entering >5 points into "findEssentialMat"?

Hi,

I'm trying to figure out the relative pose (R, t matrices) of two cameras using two synchronized videos of the same scene viewed from different positions. As input I've selected points of the *same* object in corresponding frames of both videos, and findEssentialMat needs at least 5.

My question is: what happens if I feed in more than 5 problems? Ideally I'd like to feed in many more points than 5 points and get a more accurate estimate than just 5 points would give. That's what I hope. Otherwise I'd consider finding R,t from many pairs of 5 points of points, then taking the median or mean as the best estimate.

Thanks.