Estimation of Motion Parameters of a Rigid Body from its Orthogonal Projection

In this paper, we estimate the motion parameters viz. linear and angular velocities of a rigid body rotating and translating in 3-space. We assume that the velocities are constant and that only the orthogonal projection of the motion is observable. In particular if (x, y, z) is the cartesian coordinate of the 3-space, we assume that the projection of the motion on the x-y plane is observed and the information along the z coordinate is lost.