Model-based invariants for 3D vision

A hierarchical representation of the 3D shape of objects that is invariant to affine and rigid 3D transformations is described. Model-based invariant functions of general 3D objects are defined and constructed using this representation. A linear algorithm for invariant structure from motion from a sequence of images is outlined. The model-based invariant functions are used as model-based object recognition operators, operating on raw image features. An efficient invariant implementation of alignment and geometric hashing is discussed.<<ETX>>

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