This paper proposes a general rigid motion model for estimating the multi-object 3D relative motion parameters and the
centers of rotation based on stereo sequences images. It is assumed that the correct establishing correspondence between
the matching points has been accomplished. For arbitrary two objects of these motion objects, firstly we set up three
space reference frames respectively on the two objects and the left camera, and their space relation is described
according to the coordinates of the correspondence points that lie on the two objects. Then, we design the two objects'
3D motion model through analyzing the rigid motion objects' character under the three reference frames. Thirdly, using
these points' 3D space coordinates acquired by high speed stereo photography, we can linearly figure out the
instantaneous relative 3D motion parameter and center of rotation through long sequence images after eliminating the
motion affection of the other motion object. For heightening the motion estimation method's robust, RANSAC algorithm
is applied to delete the outliers. Finally, simulation experiments are conducted using synthesized stereo sequence images
corrupted by noise and the experiment results prove the model's correction and the algorithm's validity.