Invariance-a new framework for vision

It is shown that curved planar objects have shape descriptors that are unaffected by the position, orientation and intrinsic parameters of the camera. These shape descriptors can be used to index quickly and efficiently into a large model base of curved planar objects, because their value is independent of pose and unaffected by perspective. Thus, recognition can proceed independent of calculating pose. Object curves are represented using conics, attached with a fitting technique that commutes with projection. This means that the pose of an object can be determined by backprojecting known conics. The authors show examples of recognition and pose determination using real image data