Randomized method for planar motion detection
Iris Fermin, Atsushi Imiya, Akira Ichikawa · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1996
In this paper, we propose a randomized algorithm to estimate the planar motion parameters of a finite closed set. By randomly searching points on two shapes measured at different times, we determine the centroids and translation of the planar shapes. Taking these centroids as reference points, the algorithm proceeds to determine the point-to- point correspondences by randomly searching three points on each shape that form congruent triangles. After the point correspondences have been determined, the rotation is estimated by solving the rigid motion equation.