Pose characterization by independent moment-based image features of planar objects

For a unique characterization of the relative position between a 2-D planar object (target) and a camera, the following two mappings have to be single-valued: mapping from the relative position to the image plane and from the image plane to the feature domain. We consider only white planar targets located in a black background and designed a special target which allows a unique perspective from any relative position. From the image of this target, the 6 relative position and orientation parameters can be characterized by means of 6 independent features. We use moments to extract these features and choose the proper representation to make them independent.