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This paper presents a scale and rotation-invariant gait recognition method using R-transform, which is computed by projecting squared coefficients of Radon transform. Since R-transform is invariant to translation, rotation, and scaling, it particularly suitable for extracting object poses without camera calibration. Coefficients of R-transform are used to compute correlation, and the maximum correlation value determines the similarity between two gait images. The proposed method requires neither camera calibration nor geometric compensation, and as a result, it makes robust gait recognition possible without additional compensation for translation, rotation, and scaling.