title: A comparison of rotational representations in structure and motion estimation for manoeuvring objects.
abstract: Alternative methods are examined for estimating motion and structure of objects undergoing smooth maneuvers through measurements of feature positions in long, multiple-camera image sequences. Performance of extended Kalman filters are compared for Euler angle-axis, roll-pitch-yaw, and quaternion parameterizations of rotational motion. The angle-axis method was found to give the best overall performance with a computationally efficient implementation.
authors.affiliation: Defence Res. Establ. Suffield, Medicine Hat, Alta.
authors.forename: V C
authors.initials: VC
authors.lastname: Aitken
authors.forename: H M
authors.initials: HM
authors.lastname: Schwartz