This article extends in three ways a frequency domain technique for estimating planar rotations introduced by Lucchese et al. (see Proc. of ISCAS'96, Atlanta, Georgia, vol.2, p.774-7, 1996). It refines the technique algorithmically, since it improves the precision by one or two orders of magnitude, depending upon the noise levels. It presents a stochastic version of that method and demonstrates analytically its robustness at very low signal-to-noise ratios (SNR). Finally, it extends the method of Lucchese et al. to the case of joint planar rotations and translations.
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