In Cartan’s PhD thesis, there is a formula defining a certain rank 8 vector distribution in dimension 15, whose algebra of authomorphism is the split real form of the simple exceptional complex Lie algebra $\mathfrak {f}_4$. Cartan’s formula is written in the standard Cartesian coordinates in $\mathbb {R}^{15}$. In the present paper, we explain how to find analogous formulae for the flat models of any bracket generating distribution $\mathcal D$ whose symbol algebra $\mathfrak {n}({\mathcal D})$ is constant and 2-step graded, $\mathfrak {n}({\mathcal D})=\mathfrak {n}_{-2}\oplus \mathfrak {n}_{-1}$.

The formula is given in terms of a solution to a certain system of linear algebraic equations determined by two representations $(\rho ,\mathfrak {n}_{-1})$ and $(\tau ,\mathfrak {n}_{-2})$ of a Lie algebra $\mathfrak {n}_{00}$ contained in the $0$th order Tanaka prolongation $\mathfrak {n}_0$ of $\mathfrak {n}({\mathcal D})$.

Numerous examples are provided, with particular emphasis put on the distributions with symmetries being real forms of simple exceptional Lie algebras $\mathfrak {f}_4$ and $\mathfrak {e}_6$.

The central theme of this paper is the holomorphic spectral theory of the canonical Laplace operator of the complement of the “complexified unit circle” $\{(z,w) \in \widehat {{\mathbb C}}^2 \colon z \cdot w = 1\}$. We start by singling out a distinguished set of holomorphic eigenfunctions on the bidisk in terms of hypergeometric ${}_2F_1$ functions and prove that they provide a spectral decomposition of every holomorphic eigenfunction on the bidisk. As a second step, we identify the maximal domains of definition of these eigenfunctions and show that these maximal domains naturally determine the fine structure of the eigenspaces. Our main result gives an intrinsic classification of all closed Möbius invariant subspaces of eigenspaces of the canonical Laplacian of $\Omega $. Generalizing foundational prior work of Helgason and Rudin, this provides a unifying complex analytic framework for the real-analytic eigenvalue theories of both the hyperbolic and spherical Laplace operators on the open unit disk resp. the Riemann sphere and, in particular, shows how they are interrelated with one another.

The method of equivariant moving frames is employed to construct and completely classify the differential invariants for the action of the projective group on functions defined on the two-dimensional projective plane. While there are four independent differential invariants of order $\leq 3$, it is proved that the algebra of differential invariants is generated by just two of them through invariant differentiation. The projective differential invariants are, in particular, of importance in image processing applications.

In order to investigate envelopes for singular surfaces, we introduce one- and two-parameter families of framed surfaces and the basic invariants, respectively. By using the basic invariants, the existence and uniqueness theorems of one- and two-parameter families of framed surfaces are given. Then we define envelopes of one- and two-parameter families of framed surfaces and give the existence conditions of envelopes which are called envelope theorems. As an application of the envelope theorems, we show that the projections of singular solutions of completely integrable first-order partial differential equations are envelopes.

As was shown by a part of the authors, for a given $(2,3,5)$-distribution $D$ on a five-dimensional manifold $Y$, there is, locally, a Lagrangian cone structure $C$ on another five-dimensional manifold $X$ which consists of abnormal or singular paths of $(Y,D)$. We give a characterization of the class of Lagrangian cone structures corresponding to $(2,3,5)$-distributions. Thus, we complete the duality between $(2,3,5)$-distributions and Lagrangian cone structures via pseudo-product structures of type $G_{2}$. A local example of nonflat perturbations of the global model of flat Lagrangian cone structure which corresponds to $(2,3,5)$-distributions is given.

Image feature points are detected as pixels which locally maximise a detector function, two commonly used examples of which are the (Euclidean) image gradient and the Harris–Stephens corner detector. A major limitation of these feature detectors is that they are only Euclidean-invariant. In this work, we demonstrate the application of a 2D equi-affine-invariant image feature point detector based on differential invariants as derived through the equivariant method of moving frames. The fundamental equi-affine differential invariants for 3D image volumes are also computed.

We characterise singularities of focal surfaces of wave fronts in terms of differential geometric properties of the initial wave fronts. Moreover, we study relationships between geometric properties of focal surfaces and geometric invariants of the initial wave fronts.

We study the second-order invariants of a Lorentzian surface in ℝ2,2, and the curvature hyperbolas associated with its second fundamental form. Besides the four natural invariants, new invariants appear in some degenerate situations. We then introduce the Gauss map of a Lorentzian surface and give an extrinsic proof of the vanishing of the total Gauss and normal curvatures of a compact Lorentzian surface. The Gauss map and the second-order invariants are then used to study the asymptotic directions of a Lorentzian surface and discuss their causal character. We also consider the relation of the asymptotic lines with the mean directionally curved lines. We finally introduce and describe the quasi-umbilic surfaces, and the surfaces whose four classical invariants vanish identically.

We give a normal form of the cuspidal edge that uses only diffeomorphisms on the source and isometries on the target. Using this normal form, we study differential geometric invariants of cuspidal edges that determine them up to order three. We also clarify relations between these invariants.

Let H be the n-dimensional hyperbolic space of constant sectional curvature –1 and let G be the identity component of the isometry group of H. We find all the G-invariant pseudo-Riemannian metrics on the space of oriented geodesics of H (modulo orientation preserving reparametrizations). We characterize the null, time- and space-like curves, providing a relationship between the geometries of and H. Moreover, we show that is Kähler and find an orthogonal almost complex structure on .

The method of moving frames, introduced by Elie Cartan, is a powerful tool for the solution of various equivalence problems. The practical implementation of Cartan's method, however, remains challenging, despite its later significant development and generalization. This paper presents two new variations on the Fels and Olver algorithm, which under some conditions on the group action, simplify a moving frame construction. In addition, the first algorithm leads to a better understanding of invariant differential forms on the jet bundles, while the second expresses the differential invariants for the entire group in terms of the differential invariants of its subgroup.

We find invariants for the differential systems of rank 2n in n2 variables with n unknowns under the linear changes of the unknowns with variable coefficients. We look for a set of coefficients that determines the other coefficients, and give transformation rules under the linear changes above and coordinate changes. These can be considered as a generalization of the Schwarzian derivative, which is the invariant for second order ordinary differential equations under the change of the unknown by multiplying a non-zero function. Special treatment is done when n = 2: the conformal structure obtained through the Plücker embedding is studied, and a relation with line congruences is discussed.

The geometry of indicatrices is the foundation of Minkowski geometry. A strongly convex indicatrix in a vector space is a strongly convex hypersurface. It admits a Riemannian metric and has a distinguished invariant—(Cartan) torsion. We prove the existence of non-trivial strongly convex indicatrices with vanishing mean torsion and discuss the relationship between the mean torsion and the Riemannian curvature tensor for indicatrices of Randers type.