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Spiral projection imaging (SPI) is a 3D, spiral based magnetic resonance imaging (MRI) acquisition scheme that allows for self-navigated motion estimation of all six degrees-of-freedom. The trajectory, a set of spiral planes, is enhanced to accommodate motion tracking by adding orthogonal planes. Rigid-body motion tracking is accomplished by comparing the overlapping data and deducing the motion that is consistent with the comparisons. The accuracy of the proposed method is quantified for simulated data and for data collected using both a phantom and a volunteer. These tests were repeated to measure the effect of off-resonance blurring, coil sensitivity, gradient warping, undersampling, and nonrigid motion (e.g., neck). The artifacts of off-resonance, coils sensitivity, and gradient warping impose an unnotable effect on the accuracy of motion estimation. The worst mean accuracy is 0.15 and 0.20 mm for the phantom while the worst mean accuracy is 0.48 and 0.34 mm when imaging a brain, indicating that the nonrigid component in human subjects slightly degrades accuracy. When applied to in vivo motion, the proposed technique considerably reduces motion artifact.