3D object recognition using invariance

Andrew Zisserman, David Forsyth, Joseph Mundy, Charlie Rothwell, Jane Liu, Nic Pillow

Research output: Contribution to journalArticlepeer-review


The systems and concepts described in this paper document the evolution of the geometric invariance approach to object recognition over the last five years. Invariance overcomes one of the fundamental difficulties in recognising objects from images: that the appearance of an object depends on viewpoint. This problem is entirely avoided if the geometric description is unaffected by the imaging transformation. Such invariant descriptions can be measured from images without any prior knowledge of the position, orientation and calibration of the camera. These invariant measurements can be used to index a library of object models for recognition and provide a principled basis for the other stages of the recognition process such as feature grouping and hypothesis verification. Object models can be acquired directly from images, allowing efficient construction of model libraries without manual intervention. A significant part of the paper is a summary of recent results on the construction of invariants for 3D objects from a single perspective view. A proposed recognition architecture is described which enables the integration of multiple general object classes and provides a means for enforcing global scene consistency. Various criticisms of the invariant approach are articulated and addressed.

Original languageEnglish (US)
Pages (from-to)239-288
Number of pages50
JournalArtificial Intelligence
Issue number1-2
StatePublished - Oct 1995
Externally publishedYes

ASJC Scopus subject areas

  • Language and Linguistics
  • Linguistics and Language
  • Artificial Intelligence


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