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Multiple View Geometry In Computer Vision Math 607 - page 29 / 37

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A hierarchy of transformations

Projective linear group

  Affine group (last row (0,0,1))

     Euclidean group (upper left 2x2 orthogonal)

         Oriented Euclidean group (upper left 2x2 det 1)

Alternative, characterize transformation in terms of elements or quantities that are preserved or invariant

e.g. Euclidean transformations leave distances unchanged

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