This paper presents an overview and comparisonof minimal and complete rigid body motion trajectorydescriptors, usable in applications like motion recognition andprogramming by demonstration. Motion trajectory descriptorsare able to deal with potentially unwanted variations actingon the motion trajectory such as changes in the executiontime, the motion’s starting position, or the viewpoint fromwhich the motion is observed. A suitable rigid body motiontrajectory descriptor retains only the trajectory informationrelevant to the application. This paper compares differenttrajectory descriptors for rigid body motion and validatestheir usefulness for dealing with motion variation in a motionrecognition experiment. Furthermore, a new type of invarianttrajectory descriptor is introduced based on the Frenet-Serretformulas.
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