Description  Claims  Drawing  Cited references 

US61894382B   [0001] 

A comparison of affine region detectors   [0036] 
Distinctive image features from scale-invariant keypoints   [0037] 
A performance evaluation of local descriptors   [0037] 
SURF: Speeded Up Robust Features   [0037] 
Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography   [0039]