However, corner detection is not sufficient when the scale of an image changes. Multiple papers have been published describing different algorithms for feature detection and description. We will look at a combination of the Speeded Up Robust Features (SURF) detector (for more information, see https://en.wikipedia.org/wiki/Speeded_up_robust_features) and the Binary Robust Independent Elementary Features (BRIEF) descriptor. The feature detector identifies the keypoints in the image and the feature descriptor calculates the actual feature value for all of the keypoints.
The details of these algorithms are beyond the scope of this book. Advanced users can refer to the papers describing these algorithms ...
