Moving Frames and Differential Invariants on Fully Affine Planar Curves

In this paper, by the affine analogue of the fundamental theorem for Euclidean planar curves, we classify the affine curves with constant affine curvatures. Note that we use the fully affine group and not the equi-affine subgroup consisting of area-preserving affine transformations. (Caution: much of the literature omits the “equi-” in their treatment.) According to the equivariant method of moving frames, explicit formulas for the generating affine differential invariants and invariant differential operators are constructed. At the same time, by using the fact that the affine transformation group GA (2,ℝ) can factor as a product of two subgroup B·SE(2,ℝ) and the moving frame of the subgroup SE (2,ℝ) , we build the moving frame of GA (2,ℝ) and obtain the relations among invariants of group GA (2,ℝ) and its subgroup SE (2,ℝ) . Applying the affine curvature to recognize affine equivalent objects is considered in the last part of this paper.