Mukundan, R and Malik, NK and Ramakrishnan, KR (1993) Attitude estimation using moment invariants. In: Pattern Recognition Letters, 14 (3). pp. 199-205.Full text not available from this repository.
The problem of estimating the three-dimensional rotational parameters of a rigid body from its monocular image data has been considered using the method of moment invariants. Second- and third-order moment invariants are used to construct the feature vector for the scale and orientation independent identification of the camera view axis direction in the body-fixed reference frame. The camera rotation angle about the view axis is derived from second-order central moments. The relative attitude of the rigid body is then expressed in terms of quaternion parameters to model the outputs of a video sensor in attitude control simulations. Experimental results and simulation outputs are presented using the mathematical model of a spacecraft.
|Item Type:||Journal Article|
|Additional Information:||Copyright of this article belongs to Elsevier Science.|
|Keywords:||Moment invariants;attitude estimation;computer vision.|
|Department/Centre:||Division of Electrical Sciences > Electrical Engineering|
|Date Deposited:||02 Feb 2011 09:36|
|Last Modified:||02 Feb 2011 09:36|
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