Observables and Invariance for Early Cognitive Vision

This paper presents the visual measurement of physical object properties that characterize the perceived object including: size, shape, surface properties, cover reflectance properties, distance, and motion. We provide an overview of complete set of local visual measurements. We derive photometric, geometrical, and temporal invariants to counteract unwanted transformations in the observation including: illumination spectrum and intensity, scene setting causing shadow, shading and highlight effects, and variation due to object position, pose and distance.

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