Relative affine structure: Canonical model for 3D from 2D geometry and applications

Amnon Shashua*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

88 Scopus citations


We propose an affine framework for perspective views, captured by a single extremely simple equation based on a viewer-centered invariant we call relative affine structure. 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.

Original languageAmerican English
Pages (from-to)873-883
Number of pages11
JournalIEEE Transactions on Pattern Analysis and Machine Intelligence
Issue number9
StatePublished - 1996
Externally publishedYes

Bibliographical note

Funding Information:
A. Shashua acknowledges support from McDonnell-Pew postdoctoral fellowship (during 1993/94 at MIT), and recently support from US-IS Binational Science Foundation 94-00120/1 and by the European ACTS project No. AC074 VANGUARD. N. Navab was supported by a Nichidai Foundation fellowship provided by Prof. Aaron Bobick at MIT Media Laboratory.


  • Algebraic and geometric invariants
  • Alignment
  • Projective reometry
  • Reprojection
  • Structure from motion
  • Visual recognition


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