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We describe a new method to evaluate corner extraction schemes using invariance methods. Since the locations of corners in an image depend both on the intrinsic parameters of the camera and the relative position and orientation of the object with respect to the camera, the exact positions of corners in an image are generally not known. To circumvent the need for this knowledge, we here use sets of points (instead of individual points) extracted from images of polyhedral objects and projectivedoi:10.1109/icpr.1996.546153 dblp:conf/icpr/HeydenR96 fatcat:lvczzupgnfdsve5qjmxxfbex2m