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

Volume

4

Issue

4

fYear

1995

fDate

4/1/1995 12:00:00 AM

Firstpage

516

Lastpage

520

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;

fLanguage

English

Journal_Title

Image Processing, IEEE Transactions on

Publisher

ieee

ISSN

1057-7149

Type

jour

DOI

10.1109/83.370683

Filename

370683