Relative motion and pose from invariants. - Andrew Zisserman; Constantinos Marinos; David A. Forsyth; Joseph L. Mundy; Charlie Rothwell (BMVC, 1990)

Using Projective Invariants for Constant Time Library Indexing in Model Based Vision. - Charlie Rothwell; Andrew Zisserman; David A. Forsyth; Joseph L. Mundy (BMVC, 1991)

Invariant Descriptors for 3D Object Recognition and Pose. - David A. Forsyth; Joseph L. Mundy; Andrew Zisserman; Chris Coelho; Aaron Heller; Charlie Rothwell (IEEE Trans. Pattern Anal. Mach. Intell., 1991)

Efficient model library access by projectively invariant indexing functions. - Charlie Rothwell; Andrew Zisserman; Joe L. Mundy; David A. Forsyth (CVPR, 1992)

Recognising rotationally symmetric surfaces from their outlines. - David A. Forsyth; Joseph L. Mundy; Andrew Zisserman; Charlie Rothwell (ECCV, 1992)

Canonical Frames for Planar Object Recognition. - Charlie Rothwell; Andrew Zisserman; David A. Forsyth; Joseph L. Mundy (ECCV, 1992)

Relative motion and pose from arbitrary plane curves. - Charlie Rothwell; Andrew Zisserman; Constantinos Marinos; David A. Forsyth; Joseph L. Mundy (Image Vis. Comput., 1992)

Representations of 3D Objects that Incorporate Surface Markings. - David A. Forsyth; Charlie Rothwell (Applications of Invariance in Computer Vision, 1993)

Hierarchical Object Description Using Invariants. - Charlie Rothwell (Applications of Invariance in Computer Vision, 1993)

Efficient recognition of rotationally symmetric surfaces and straight homogeneous generalized cylinders. - Jane Liu; Joe L. Mundy; David A. Forsyth; Andrew Zisserman; Charlie Rothwell (CVPR, 1993)

Extracting projective structure from single perspective views of 3D point sets. - Charlie Rothwell; David A. Forsyth; Andrew Zisserman; Joseph L. Mundy (ICCV, 1993)

Eliciting qualitative structure from image curve deformations. - Andrew Zisserman; Andrew Blake 001; Charlie Rothwell; Luc Van Gool; Marc Van Diest (ICCV, 1993)

Planar region detection and motion recovery. - David Sinclair; Andrew Blake 001; Stephen M. Smith 001; Charlie Rothwell (Image Vis. Comput., 1993)

Using global consistency to recognise Euclidean objects with an uncalibrated camera. - David A. Forsyth; Joe L. Mundy; Andrew Zisserman; Charlie Rothwell (CVPR, 1994)

Model supported exploitation: quick look, detection and counting, and change detection. - C. Huang; Joseph L. Mundy; Charlie Rothwell (WACV, 1994)

MORSE: An Architecture for 3D Object Recognition Based on Invariants. - Joseph L. Mundy; Rupert W. Curwen; Jane Liu; Charlie Rothwell; Andrew Zisserman; David A. Forsyth (ACCV, 1995)

Class-Based Grouping in Perspective Images. - Andrew Zisserman; Joseph L. Mundy; David A. Forsyth; Jane Liu; Nic Pillow; Charlie Rothwell; Sven Utcke (ICCV, 1995)

3D Object Recognition Using Invariance. - Andrew Zisserman; David A. Forsyth; Joseph L. Mundy; Charlie Rothwell; Jane Liu; Nic Pillow (Artif. Intell., 1995)

Planar object recognition using projective shape representation. - Charlie Rothwell; Andrew Zisserman; David A. Forsyth; Joseph L. Mundy (Int. J. Comput. Vis., 1995)

An Experimental Comparison of Appearance and Geometric Model Based Recognition. - Joseph L. Mundy; A. Liu; Nic Pillow; Andrew Zisserman; S. Abdallah; Sven Utcke; Shree K. Nayar; Charlie Rothwell (Object Representation in Computer Vision, 1996)

Reasoning about Occlusions during Hypothesis Verification. - Charlie Rothwell (ECCV (1), 1996)

Representing Objects Using Topology. - Charlie Rothwell; Joseph L. Mundy; Bill Hoffman (Object Representation in Computer Vision, 1996)

Understanding the Shape Properties of Trihedral Polyhedra. - Charlie Rothwell; Julien P. Stern (ECCV (1), 1996)

Semi-local projective invariants for the recognition of smooth plane curves. - Stefan Carlsson; Roger Mohr; Theo Moons; Luce Morin; Charlie Rothwell; Marc Van Diest; Luc Van Gool; Francoise Veillon; Andrew Zisserman (Int. J. Comput. Vis., 1996)

A Comparison of Projective Reconstruction Methods for Pairs of Views. - Charlie Rothwell; Olivier D. Faugeras; Gabriela Csurka (Comput. Vis. Image Underst., 1997)