Objects are represented as a collection of pixels in an image. Thus, for purposes of recognition
we need to describe the properties of groups of pixels. The description is often just a set of
numbers – the object’s descriptors. From these, we can compare and recognise objects by
simply matching the descriptors of objects in an image against the descriptors of known
objects. However, in order to be useful for recognition, descriptors should have four important
properties. First, they should define a complete set. That is, two objects must have the same
descriptors if and only if they have the same shape. Secondly
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