Journal of Mathematical Imaging and Vision
Local invariant feature detectors: a survey
Foundations and Trends® in Computer Graphics and Vision
Localizing Objects with Smart Dictionaries
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Balancing deformability and discriminability for shape matching
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
International Journal of Robotics Research
Wide-baseline correspondence from locally affine invariant contour matching
ICIAR'11 Proceedings of the 8th international conference on Image analysis and recognition - Volume Part I
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part II
A Multisensor Architecture Providing Location-based Services for Smartphones
Mobile Networks and Applications
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Most current local feature detectors/descriptors implicitly assume that the scene is (locally) planar, an assumption that is violated at surface discontinuities. We show that this restriction is, at least in theory, unnecessary, as one can construct local features that are viewpoint-invariant for generic non-planar scenes. However, we show that any such feature necessarily sacrifices shape information, in the sense of being non shape-discriminative. Finally, we show that if viewpoint is factored out as part of the matching process, rather than explicitly in the representation, then shape is discriminative indeed. We illustrate our theoretical results empirically by showing that, even for simple scenes, current affine descriptors fail where even a naive 3-D viewpoint invariant succeeds in matching.