1. Introduction
The problem of detecting the symmetries of curves and surfaces has attracted the attention of many researchers throughout the years, because of the interest from fields like Pattern Recognition (Boutin, 2000; Calabi et al., 1998; Huang and Cohen, 1996; Lebmeir and Richter-Gebert, 2008; Lebmeir, 2009; Suk and Flusser, 1993, 2005; Tarel and Cooper, 2000; Taubin and Cooper, 1992; Weiss, 1993), Computer Graphics (Berner et al., 2008; Bokeloh et al., 2009; Lipman et al., 2010; Martinet et al., 2006; Mitra et al., 2006; Podolak et al., 2006; Schnabel et al., 2008; Simari et al., 2006), and Computer Vision (Alt et al., 1988; Brass and Knauer, 2004; Jiang et al., 1996; Li et al., 2008, 2010; Loy and Eklundh, 2006; Tate and Jared, 2003; Sun and Sherrah, 1997). The introduction in Alcázar et al. (2014b) contains an extensive account of the variety of approaches used in the above references. A common characteristic in most of these papers is that the methods focus on computing approximate symmetries more than exact symmetries, which is perfectly reasonable in many applications, where curves and surfaces often serve as merely approximate representations of a more complex shape. Some exceptions appear here: If the object to be considered is discrete (e.g. a polyhedron), or is described by a discrete object, like for instance a control polygon or a control polyhedron, then the symmetries can be determined exactly (Alt et al., 1988; Brass and Knauer, 2004; Jiang et al., 1996; Li et al., 2008). Examples of the second class are Bézier curves and tensor product surfaces. Furthermore, in these cases the symmetries of the curve or surface follow from those of the underlying discrete object. Another exception appears in Lebmeir and Richter-Gebert (2008), where the authors provide a deterministic method to detect rotation symmetry of an implicitly defined algebraic plane curve and to find the exact rotation angle and rotation center. The method uses a complex representation of the curve and is generalized in Lebmeir (2009) to detect mirror symmetry as well.