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We derive a new class of photometric invariants that can be used for a variety of vision tasks including lighting invariant material segmentation, change detection and tracking, as well as material invariant shape recognition. The key idea is the formulation of a scene radiance model for the class of "separable" BRDFs, that can be decomposed into material related terms and object shape and lighting related terms. All the proposed invariants are simple rational functions of the appearancedoi:10.1109/iccv.2003.1238652 dblp:conf/iccv/NarasimhanRN03 fatcat:4ygop6457jdxfkz4i7455jl3ma