The rotation motion of the camera is estimated the image. Based on RANSAC, the basic matrix is solved, and the essential matrix is obtained the internal parameters, and finally the rotation matrix is obtained. Attached image

本质矩阵\compute_E.m
........\fundmatrix.m
........\hnormalise.m
........\new_E.m
........\normalise2dpts.m
........\ransac.m
........\ransacfitfundmatrix.m
........\Untitled.m
........\video\20160505\Limage1.jpg
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........\.....\30\Limagel1.jpg
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........\youlishiwucha.m
........\video\20160505
........\.....\30
........\video
本质矩阵

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