Title :
On the estimation of rigid body rotation from noisy data
Author :
Goryn, Daniel ; Hein, Soren
Author_Institution :
Siemens AG, Munich, Germany
fDate :
12/1/1995 12:00:00 AM
Abstract :
We derive an exact solution to the problem of estimating the rotation of a rigid body from noisy 3D image data. Our approach is based on total least squares (TLS), but unlike previous work involving TLS, we include the constraint that the transformation matrix should be orthonormal. It turns out that the solution to the estimation problem has the same form as if the data are not noisy, and thus the solution to the standard Procrustes problem can be applied
Keywords :
computer vision; least squares approximations; matrix algebra; motion estimation; Procrustes problem; computer vision; motion parameter estimation; noisy 3D image data; rigid body rotation estimation; total least squares; transformation matrix; Application software; Computer errors; Computer vision; Image analysis; Least squares approximation; Least squares methods; Matrix decomposition; Motion analysis; Motion estimation; Parameter estimation;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
