title: Relative Camera Pose Estimation from essential matrix
body: <p>I want to use a single camera to estimation relative Camera Pose by frames.</p>
  
  <p>For achieving this, following steps are adopted.</p>
  
  <ol>
  <li>calibrated camera get the camera parameter K</li>
  <li>Finding point corresponding using SIFT/SURF </li>
  <li>Fundamental Matrix Identification ;using the findFundamentalMat（），and input the matches points 2D</li>
  <li>Estimation of Essential Matrix by E = K'FK and modifying E for   singularity constraint </li>
  <li>Decomposition Essential Matrix to get the rotation, R = UWVt / UW'Vt (U and Vt are obtained SVD of E) ,and get the translation t;</li>
  </ol>
  
  <p>But after  doing that,the  translation t is too small.assume the initial camera position is(0,0,0).After camera moving forward 20cm,the next pose is(0,0,20),the real translation should be 20cm .The level of the two is quite different.</p>
  
  <p>what's wrong? how to obtaining the real translation from translation matrix?Could you help me?</p>