Attitude estimation using moment invariants

Implicit Moment Invariants

“…In Wong and Hall (1978), Goshtasby (1988) and Flusser and Suk (1994b) the authors employed moment invariants in template matching and registration of satellite images. Mukundan and Ramakrishnan (1996), Mukundan and Malik (1993) applied them to estimate the position and the attitude of the object in 3-D space. Additionally in Sluzek (1995) it was proposed to use local moment invariants in industrial quality inspection and many authors used moment invariants for character recognition (Belkasim et al 1991;El-Khaly and Sid-Ahmed 1990;Tsirikolias and Mertzios 1993;Khotanzad and Hong 1990;Flusser and Suk 1994a).…”

Output feedback observation and control for visual servoing of VTOL UAVs

“…Finally, can be determined from a priori knowledge on the relative location of at least 3 non-colinear target marks. For examples, it is shown in [34] that a few image moments are sufficient to determine . Another approach consists in using target marks forming recognizable geometric features, in [35] a circular target is used, and in [36] the relative orientation of a few detected lines is known.…”

“…Recalling (29), and introducing the control assignment (34), the time derivative of the above function may be written as follows:…”

Optimized Set of RST Moment Invariants

“…Hu's invariants have been utilized as pattern recognition features in a number of applications such as aircraft identification [2] , data matching [3] , character recognition [4,5] , image normalization [6] and texture classification [7] . Mukundan and his co-authors [8,9] applied them to estimate the position and the attitude of the object in 3-D space. Flusser et al [10,11] used moment invariants in the analysis and recognition of blurred and degraded images.…”