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<p><b>Abstract</b>—We propose an affine framework for perspective views, captured by a single extremely simple equation based on a viewer-centered invariant we call <it>relative affine structure</it>. Via a number of corollaries of our main results we show that our framework unifies previous work—including Euclidean, projective and affine—in a natural and simple way, and introduces new, extremely simple, algorithms for the tasks of reconstruction from multiple views, recognition by alignment, and certain image coding applications.</p>
Structure from motion, visual recognition, alignment, reprojection, projective reometry, algebraic and geometric invariants.

N. Navab and A. Shashua, "Relative Affine Structure: Canonical Model for 3D From 2D Geometry and Applications," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 18, no. , pp. 873-883, 1996.
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