Estimation of 3-D motion using eigen-normalization and expansion matching

This correspondence describes a novel approach to three-dimensional (3-D) motion estimation of planar objects based on eigen-normalization, expansion matching (EXM), and a scaled orthographic projection model. Our approach leads to a comprehensive temporal description of all the degrees of freedom in 3-D (three rotations and three translations). Experiments with video streams show robust estimation of the real 3-D rotations and translations of the objects in motion.