利用反馈线性化和PD控制，仅实现了平移运动间的解耦，而旋转运动之间仍然存在耦合作用。

Using feedback linearization and linear PD control, only translational motions are decoupled and the rotational motions still exist couplings.

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用迭代最小二乘法求解使用局部运动矢量和运动模型建立的线性参数系统获得全局平移、旋转及缩放运动参数。

Then a linear system is constructed from these local motion vectors and solved to determine the global motion parameters which are refined by the motion iteration process.

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