1. Invariants to affine transform What is affine transform ?

2. Why is affine transform important? Affine transform is a good approximation of projective transform Projective transform describes a perspective projection of 3-D objects onto 2-D plane by a central camera

3. Affine moment invariants Theory of algebraic invariants (Hilbert, Schur, Gurewich) Tensor algebra, Group theory (Lenz, Meer) Algebraic invariants revised (Reiss, Flusser & Suk, Mamistvalov) Image normalization (Rothe et al.) Graph theory (Flusser & Suk) Hybrid approaches All methods lead to the same invariants Many ways how to derive them

5. General construction of Affine Moment Invariants

6. Affine Moment Invariants

7. Simple examples of the AMI’s

8. Graph representation of the AMI’s

13. Removing dependency

14. Affine invariants via normalization Many possibilities how to define normalization constraints Several possible decompositions of affine transform

15. Decomposition of the affine transform Horizontal and vertical translation Scaling First rotation Stretching Second rotation Mirror reflection

16. Normalization to partial transforms Horizontal and vertical translation -- m 01 = m 10 = 0 Scaling -- c 00 = 1 First rotation -- c 20 real and positive Stretching -- c 20 =0 (μ 20 =μ 02 ) Second rotation -- -- c 21 real and positive

17. Properties of the AMI’s

18. Application of the AMI’s Recognition of distorted shapes Image registration

19. Landmark-based robot navigation

20. Clusters in the space of the AMI’s

21. Landsat TMSPOT Image registration

22. Selected regions

23. Matching pairs

24. Image registration

25. Region matching by the AMI’s

26. Robustness of the AMI’s to distortions

28. Aspect-ratio invariants

29. Projective moment invariants Projective transform describes a perspective projection of 3-D objects onto 2-D plane by a central camera

30. Projective moment invariants Do not exist using any finite set of moments Do not exist using infinite set of (all) moments Exist formally as infinite series of moments of both positive and negative indexes

31. Invariants to contrast changes