  This paper describes the kinematics of the motion tracking of a rigid body
using video recording. The novelty of the paper is on the adaptation of the
methods and nomenclature used in Computer Vision to those used in Multibody
System Dynamics. That way, the equations presented here can be used, for
example, for inverse-dynamics multibody simulations driven by the motion
tracking of selected bodies. This paper also adapts the well-known Zhang
calibration method to the presented nomenclature.
