Solving for 3D motion parameters of a rigid body by a vector geometrical approach : Uniqueness and numerical results

This paper deals with some practical considerations in computing 3D motion parameters of a rigid body (over 2 time-sequential frames) by the linear method given in [1]. From a theoretic standpoint, this method is closely related to 2 previously described approaches [2-3]. In computation, there are 2 main questions : (1) whether an E matrix (from which the 3D motion parameters are found) can be uniquely determined (2) the sensitivity of solution to errors and other factors. Additional cases where E cannot be found are described. Numerical simulations of the effects of various factors on the solution accuracy for E (and the 3D motion parameters) are given.