ROBUST ESTIMATION OF RIGID BODIES'MOTION PARAMETERS FROM 2 D POINT CORRESPONDENCE

Given the 2-D point correspondence set of a scene containing moving rigid object, this article proposes a method to estimate its motion parameters. Because there exists several incorrect correspondence in the set, the least trimmed square estimator and recursive residuals analysis is adopted to deal with the outliers and get the correct motion parameters. It does not need any prior knowledge. Computer simulation results demonstrate the effectiveness and efficiency of the algorithm.