Abstract
The problem of estimating the rotational parameters of a rigid planar patch from its monocular image data is considered using the moments of image functions. The quaternion elements describing the object transformations in 3D space are functionally related to the first and second order image moments by a set of nonlinear quadratic equations. The moment equations can then be reduced to linear expressions in quaternion product terms to yield a closed form solution for the magnitudes of the rotational parameters. The mathematical formulations are presented along with experimental results.
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