This paper presents a method t o estimate and to predict general three-dimensional motions of an unknown rigid body under no external forces and moments using visual information, which is applicable to autonomous space robotic missions. Four parameters of dynamics and a reference coordinate frame to describe the motion are computed based on the Euler's equation of motion from a sequence of angular velocity vectors extracted from diflerence of images. Through computer simulations for variovs kinds of motions the eflectiveness and limitation of this method are discussed.

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