A new, algorithmic theory of moving frames is applied to classify joint invariants and joint differential invariants of transformation groups. Equivalence and symmetry properties of submanifolds are completely determined by their joint signatures, which are parametrized by a suitable collection of joint invariants and/or joint differential invariants. A variety of fundamental geometric examples are developed in detail. Applications to object recognition problems in computer vision and the design of invariant numerical approximations are indicated.
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