Estimation three-dimensional motion of rigid objects from noisy observations

An estimate is made of the motion of a rigid body from two noisy 2-D perspective projections using the least-squares method and the algebra of R.Y. Tsai and T.S. Huang (1984). The accuracy of the estimated motion parameters is influenced by the position of the features of the object used in the calculation. Four test variables are derived that indicate how the accuracy is affected, and they are used for discarding inaccurate estimates. Monte Carlo tests demonstrate the obtained accuracy.<
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