Description  Claims  Drawing  Cited references 

US2004090444A1   [0015] 
US4700307A   [0016] 

Distinctive Image Features from Scale-Invariant Keypoints   [0004] 
A performance evaluation of local descriptors   [0008] 
A hybrid registration method for outdoor augmented reality   [0015] 
Local feature extraction and matching on range images: 2.5D SIFT   [0017] 
A performance evaluation of local descriptors   [0018]