Motion constraint of planetary lander with overlapping field of view

The navigation camera of planetary lander usually select image feature points and to track them from frame to frame to determine its position and orientation relative to a planet´s surface during landing. In order to establish the correspondence between feature points seen in the current image and those in the adjacent image, it is reasonable to keep these images with overlapping region. This paper presented the algorithm for computing overlapping area in a 2D plane which is essentially the projection of the imaging plane in the 3D world, and the motion constraints of the planetary lander include translation and rotation is illustrated.