Robot sensing techniques based on high-dimensional moment invariants and tensors
Vishal Markandey, Rui J. P. deFigueiredo · IEEE Transactions on Robotics and Automation · 1992
A generalization of the concepts of moments and moment invariants to n-dimensions is presented. These concepts are used to develop techniques for object identification and attitude determination. Experimental results for these techniques are presented, and theoretical error analyses are developed.>