Monocular Lie algebra approach for 3D motion estimation

This work presents a monocular method to estimate 3D motion of an object in the visual space. Our method is based on the theory of system identification, it identifies the optimal estimated value of the parameters that defines a 3D motion. The Lie algebra approach assures the estimation of the parameters of the shortest orbit (geodesic) of the involved group action. Experiments validate the effectiveness of the method.