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

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Number of invariants?

The number of functional invariants is equal to, or greater than, the number of degrees of freedom of the configuration less the number of degrees of freedom of the transformation

e.g. configuration of 4 points in general position has 8 dof (2/pt)

and so 4 similarity, 2 affinity and zero projective invariants

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