Perspective Projection Invariants

Abstract

An important part of stereo vision consists of finding and matching points in two images which correspond to the same physical element in the scene. We show that zeros of curvature of curves are perspective projection invariants and can therefore be used to find corresponding points. They can be used to help solve the registration problem (Longuet-Higgins, 1982) and to obtain the correct depth when a curve enters the forbidden zone (Krol and van de Grind, 1982). They are also relevant to theories for representing image curves. We consider the stability of these zeros of curvature.