Features for recognition: viewpoint invariance for non-planar scenes
Vedaldi, A.; Soatto, S.
Computer Vision, 2005. ICCV 2005. Tenth IEEE International Conference on
Volume 2, Issue , 17-21 Oct. 2005 Page(s):1474 - 1481 Vol. 2
Digital Object Identifier   10.1109/ICCV.2005.99
Summary: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

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