Relative motion and pose from invariants
Andrew Zisserman, C. Marinos, David Alexander Forsyth, Joseph L. Mundy, C. A. Rothwcll · 1990
Projectively invariant shape descriptors efficiently identify instances of object models in images without reference to object pose. These descriptions rely on frame independent representations of planar curves, using plane conies. We show that object pose can be determined from coplanar curves, given such a frame independent representation. This result is demonstrated for real image data. The shape of objects in images changes as the camera is moved around. This extremely simple observation represents the dominant problem in model based vision. Nielsen [4, 5] first suggested using projectively invariant labels as landmarks for navigation. Recent papers [1, 2] have shown that it is possible to compute shape descriptors of arbitrary plane objects that are unaffected by