Identification of motion parameters of a rigid body from its orthogonal and perspective projections

An estimate is made of the motion parameters, namely linear and angular velocities, of a rigid body rotating and translating in three-space. The authors assume that the velocities are constant and that the motion is not completely observable. They consider two separate cases of partial observations corresponding to the orthogonal and the perspective projections, respectively. If (x, y, z ) is the Cartesian coordinate of the three-space, the authors assume in the first case that the projection of the motion on the x -y plane is observed. If (r, θ, φ) is the polar coordinates of the three-space, they assume in the second case that the parameter vector (θ, φ) is observed. The use of both of these cases to estimate the motion parameters is discussed