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However, current approaches are confined to incomplete statistical verification or robustness to $\\ell_p$-norm and affine transforms, which cover only a narrow subset of perturbations to the image formation process. In particular, robustness to camera motion remains an open problem despite being key to deploy many vision applications. We present a formal verification approach that targets robustness against 3D motion perturbations of the capturing camera. We first establish a closed-form mapping from camera pose to pixel values. 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