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We propose a new affine-covariant feature, the Stable Affine Frame (SAF). SAFs lie on the boundary of extremal regions, i.e. on isophotes. But instead of requiring the whole isophote to be stable with respect to intensity perturbation as in maximally stable extremal regions (MSERs), stability is required only locally, for the primitives constituting the three-point frames. The primitives are extracted by an affine invariant process that exploits properties of bitangents and algebraic moments.doi:10.1109/iccv.2007.4408887 dblp:conf/iccv/PerdochMO07 fatcat:bvnb6zcaqfcnbiwillyhnlflhq