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Distinctive Image Features from Scale-Invariant Keypoints (2004) [1226 citations — 9 self]

Abstract:

This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene. The features are invariant to image scale and rotation, and are shown to provide robust matching across a a substantial range of affine distortion, change in 3D viewpoint, addition of noise, and change in illumination.

Citations

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