An algorithm to determine the relative rotation of two digitized images is presented. The algorithm does not need any pre-processing of the picture elements and allows an effective recursive implementation. A theoretical stability analysis with respect to random disturbances, along with experimental results, is also reported.
"Digital Analysis Of Rotated Images", Proc. SPIE 0535, Application of Optical Instrumentation in Medicine XIII, (11 June 1985); doi: 10.1117/12.947268; https://doi.org/10.1117/12.947268