The features are highly distinctive, in the sense that a single feature can be correctly matched with high probability against a large database of features from many images. David G. Lowe, "Distinctive Image Features from Scale-Invariant K…

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. David G. Lowe, "Dist…