Improving the translation parameter estimation of linear algorithms

✍ Scribed by Sassan Pejhan; Sundararaj Ragupathi; Robert A. King

• Publisher: Elsevier Science
• Year: 1991
• Tongue: English
• Weight: 624 KB
• Volume: 2
• Category: Article
• ISSN: 1047-3203
• DOI: 10.1016/1047-3203(91)90036-f

✦ Synopsis

An improved algorithm for finding the transiation parameters of the motion of rigid objects is presented. A critical analysis of the method of Tsai and Huang [IEEE Trans. PAMId, 1984, 13-261 to estimate the three-dimensional motion parameters of rigid objects showed that their method is extremely sensitive to noise, as conceded by the authors themselves. It was discovered that, in the presence of noise, the estimates for the rotation parameters were more accurate and consistent than those for the translation parameters. A modified program here combines the estimates for the less noise-sensitive rotation parameters with the basic motion equations in order to solve for the translation parameters. Simulations of the two methods were performed and it was observed that the modified algorithm improved the estimates for the translation parameters. In addition, a simple algorithm for the case where the motion is a pure translation is derived. Simulations again revealed that this simple algorithm is far less noise-sensitive than that of Tsai and Huang.