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. (Request a copy)Abstract
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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