Some Covariants Related to Steiner Surfaces

A Steiner surface is the generic case of a quadratically parameterizable quartic surface used in geometric modeling. This paper studies quadratic parameterizations of surfaces under the angle of Classical Invariant Theory. Precisely, it exhibits a collection of covariants associated to projective quadratic parameterizations of surfaces, under the actions of linear reparameterization and linear transformations of the target space. Each of these covariants comes with a simple geometric interpretation. As an application, some of these covariants are used to produce explicit equations and inequalities defining the orbits of projective quadratic parameterizations of quartic surfaces.