Linear method for performing head motion estimation from facial feature data, the method comprising the steps of: obtaining first facial image and detecting a head in the first image; detecting position of four points P of said first facial image where P={p1, p2, p3, p4}, and pk=(xk, yk); obtaining second facial image and detecting a head in the second image; detecting position of four points P of the second facial image where P={p1, p2, p3, p4} and pk=(xk, yk); and, determining the motion of the head represented by a rotation matrix R and translation vector T using the points P and P. The head motion estimation is governed according to an equation:

Pi=RPi+T,

where

##EQU1##

and T=[T1 T2 T3]T represents camera rotation and translation respectively.

 
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