Invariant methods for model transfer and object reconstruction based on multiple reference images

Invariant methods for object representation and model matching develop relationships among object and image features that are independent of the quantitative values of the camera parameters of object orientation, hence the term invariant. Three-dimensional models of objects of scenes can be reconstructed and transferred to new images, given a minimum of two reference images and a sufficient number of corresponding points in the images. By using multiple reference images, redundancy can be exploited to increase robustness of the procedure to pixel measurement errors and systematic errors (i.e., discrepancies in the camera model). We present a general method for deriving invariant relationships based on two or more images. Simulations of model transfer and reconstruction demonstrate the positive effect of additional reference images on the robustness of invariant procedures. Pixel measurement error is simulated by adding random noise to coordinate values of the features in the reference images.