This approach to recognition can robustly identify objects among clutter and occlusion while achieving near real-time performance. David G. Lowe, "Distinctive Image Features from Scale-Invariant Keypoints" https://www.cs.ubc.ca/~lowe/paper…

The recognition proceeds by matching individual features to a database of features from known objects using a fast nearest-neighbor algorithm, followed by a Hough transform to identify clusters belonging to a single object, and finally per…