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Attitude estimation using moment invariants

Mukundan, R and Malik, NK and Ramakrishnan, KR (1993) Attitude estimation using moment invariants. In: Pattern Recognition Letters, 14 (3). pp. 199-205.

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Official URL: http://dx.doi.org/10.1016/0167-8655(93)90072-L


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
Publication: Pattern Recognition Letters
Publisher: Elsevier Science
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
URI: http://eprints.iisc.ac.in/id/eprint/35340

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