Based on
spherical projection model and homography decomposition, this paper has designed invariant visual features, and (11) shows that feature jacobian [L.sub.s] has nice decoupling and linear properties compared to classical point based method, which decrease the nonlinearities between feature space and camera 3D space.
If the retina were flat, Reid could not make this claim, for the real angles in the retinal image would not equal the apparent angles in the visible figure or the real angles in its
spherical projection. But he could still make the same case for the geometry of visibles, for whether the retinal image is flat or curved, it will determine (in accordance with the law of visible direction) the same visible figure.