Validation of four major algorithms for estimating the instantaneous helical axis with miniature triaxial gyroscope

This work presents an experimental validation study of four major algorithms for estimating the instantaneous helical axis parameters for rigid-body motion. The angular velocity vector was first estimated from landmarks trajectories by four methods and compared to the measured one by a miniature triaxial gyroscope. It was found that the four methods are equivalent, that the estimated angular velocity closely matches the measured one and increasing the number of markers have the effect of smoothing the helical parameters.