Moment invariants for recognition under changing viewpoint and illumination

Generalised color moments combine shape and color information and put them on an equal footing. Rational expressions of such moments can be designed, that are invariant under both geometric deformations and photometric changes. These generalised color moment invariants are effective features for recognition under changing viewpoint and illumination. The paper gives a systematic overview of such moment invariants for several combinations of deformations and photometric changes. Their validity and potential is corroborated through a series of experiments. Both the cases of indoor and outdoor images are considered, as illumination changes tend to differ between these circumstances. Although the generalised color moment invariants are extracted from planar surface patches, it is argued that invariant neighbourhoods offer a concept through which they can also be used to deal with 3D objects and scenes. 2003 Elsevier Inc. All rights reserved.