Detecting horizons of symmetric black holes using relative differential invariants

Let $\mathfrak{k}$ be a nontrivial finite-dimensional Lie algebra of vector fields on a manifold M, and consider the family of Lorentzian metrics on M whose Killing algebra contains $\mathfrak{k}$. We show that scalar relative differential invariants, with respect to a Lie algebra of vector fields on M preserving $\mathfrak{k}$, can be used to detect the horizons of several well-known black holes. In particular, using the Lie algebra structure of $\mathfrak{k}$, we construct a general relative differential invariant of order 0 that always vanishes on $\mathfrak{k}$-invariant Killing horizons.