Zoom-invariant tracking using points and lines in affine views. An application of the affine multifocal tensors

@article{Hayman1999ZoominvariantTU,
  title={Zoom-invariant tracking using points and lines in affine views. An application of the affine multifocal tensors},
  author={Eric Hayman and Torfi Th{\'o}rhallsson and David William Murray},
  journal={Proceedings of the Seventh IEEE International Conference on Computer Vision},
  year={1999},
  volume={1},
  pages={269-277 vol.1}
}
This paper describes methods for tracking using point and line features in affine views to provide fundamental invariance to changes of focal length. It first demonstrates how an earlier method of transfer-based tracking using spatio-temporal matching of point features in a stereo active head is indeed zoom-invariant. In order to also make use of lines the paper then illustrates how the affine tri- and quadrifocal tensors may be applied to tracking with zoom in monocular and stereo systems… 

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