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The ability to determine the geometrical transformation which aligns a 3D object with its 2D image plays an important role in recognition and other visual tasks. We suggest that since usually the possible. transformations are constrained, they can be determined by using a small number of features. We prove that combinations of three co-planar points and lines can determine the alignment transformation uniquely or almost uniquely.
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Shoham et al. (2005) studied this question.