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How to detect camera rotation


I am working on a project involving a zeppelin that has to be able to navigate using a camera. The camera has to scan qr codes containing instructions (eg move x meters, rotate x degrees).

The TA's advised us to simply determine experimentally how much engine power we need to move a certain distance, but since we have a downwards pointing camera anyway I figured we could use image analysis to make our movements more exact.

I am looking for a way to estimate how much the camera has rotated between two pictures. I have looked through the documentation, but since I have no real experience in image processing it's quite overwhelming.

Preferably the method would also be able to account for small amounts of translation and height change of the camera.

Of course I'm not expecting anybody to give me a complete, ready to use method, but some pointers on what to look at first would be nice :)