This chapter contains recipes for:
- Finding corners in an image - Harris and FAST
- Selecting good corners in an image for tracking
- Drawing keypoints, descriptors, and matches
- Detecting scale invariant keypoints
- Computing descriptors for image keypoints - SURF, BRIEF, and ORB
- Matching techniques for finding correspondences between descriptors
- Finding reliable matches - cross-check and ratio test
- Model-based filtering of matches - RANSAC
- BoW model for constructing global image descriptors
