Quaternion-Based Non-Linear Motion Estimation Method

This study is devoted to the camera motion estimation from a video sequence obtained with that camera. The most common approach to solution of this problem is to find an essential matrix that contains mixed information about rotation and translation of camera movement. Moreover, this technique gives incorrect solution if the world points are coplanar. We propose a method for finding motion parameters in quaternion terms using an initial approximation based on linear methods. The proposed representation allows us to independently determine rotation and translation parameters.