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.
IEEE Transactions on Image Processing
Department of Systems and Computer Engineering

Aitken, V, & Schwartz, H.M. (1995). A Comparison of Rotational Representations in Structure and Motion Estimation for Maneuvering Objects. IEEE Transactions on Image Processing, 4(4), 516–520. doi:10.1109/83.370683