Semi-local projective invariants for the recognition of smooth plane curves by Carlsson, S, Mohr, R, Moons, T, Morin, L, Rothwell, C, Van Diest, M, Van Gool, L, Veillon, F, Zisserman, A

Canonical frames for planar object recognition by Rothwell, CA, Zisserman, A, Forsyth, DA, Mundy, JL

Recognising rotationally symmetric surfaces from their outlines by Forsyth, DA, Mundy, JL, Zisserman, A, Rothwell, CA