@article{JOLT_2022_32_3_a4,
     author = {Richard Brown and Stephen Marsland and Robert McLachlan},
     title = {Differential {Invariant} {Signatures} for {Planar} {Lie} {Group} {Transformations} with {Application} to {Images}},
     journal = {Journal of Lie Theory},
     pages = {709--736},
     year = {2022},
     volume = {32},
     number = {3},
     url = {http://geodesic.mathdoc.fr/item/JOLT_2022_32_3_a4/}
}