A Comparison of Rotational Representations in Structure and Motion Estimation for Maneuvering Objects
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.
|Journal||IEEE Transactions on Image Processing|
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