We propose an algorithm that esti- mates tumbling motions of unknown rigid bodies un- der no gravitation based on visual information. Ge- ometric analysis enables determining four parameters of dynamics and reference coordinates from the se- quence of angular velocity vectors which are extracted from difference of images. Computer simulations con- sidering quantization errors show the effectiveness of algorithm.
['Yasuhiro Masutani', 'Yasuhiro Okada', 'Fumio Miyazaki']
Motion Estimation Of Unknown Object For Space Robotic Missions