Kalman filter application for the angular motion estimation by video processing

This work considers the problem of estimating the orientation and angular velocity of the object by image processing. To solve this problem, an approach based on the Extended Kalman filter (EKF), where the mesurements are the coordinates of the image points.
The results showed a significatly accuracy increase for the angular velocity estimation. As for the rotation quaternion, there was no significant improvement with respect to the local methods.