Title :
A comparison of rotational representations in structure and motion estimation for manoeuvring objects
Author :
Aitken, Victor C. ; Schwartz, Howard M.
Author_Institution :
Defence Res. Establ. Suffield, Medicine Hat, Alta., Canada
fDate :
4/1/1995 12:00:00 AM
Abstract :
Alternative methods are examined for estimating motion and structure of objects undergoing smooth maneuvers through measurements of feature positions in long, multiple-camera image sequences. Performance of extended Kalman filters are compared for Euler angle-axis, roll-pitch-yaw, and quaternion parameterizations of rotational motion. The angle-axis method was found to give the best overall performance with a computationally efficient implementation
Keywords :
Kalman filters; image representation; image sequences; motion estimation; position measurement; rotating bodies; tracking filters; Euler angle-axis; angle-axis method; extended Kalman filters; feature positions measurement; manoeuvring objects; motion estimation; multiple-camera image sequences; performance; quaternion parameterizations; roll-pitch-yaw; rotational motion; rotational representations; smooth maneuvers; Algorithm design and analysis; Cameras; Image sequences; Motion estimation; Motion measurement; Position measurement; Quaternions; Rotation measurement; State estimation; Tracking;
Journal_Title :
Image Processing, IEEE Transactions on
