A Review of Keypoints’ Detection and Feature Description in Image Registration

Table 1

Detectors and descriptors of the handcrafted feature point.

Detectors	Scale space	Invariance to rotation	Invariance to illumination	Descriptor	Invariance to scale	Invariance to rotation	Invariance to illumination
Harris	—	✓	✓	—	—	—	—
FAST	—	—	✓	—	—	—	—
BRISK	✓	—	✓	BRISK	✓	✓	✓
ORB	—	✓	✓	ORB	✕	✓	✓
—	—	—	—	BRIEF	✕	✕	✓
—	—	—	—	FREAK	✕	✕	✓
KAZE	✓	✓	✓	KAZE	✓	✓	✓
SIFT	✓	✓	✓	SIFT	✓	✓	✓
SURF	✓	✓	✓	SURF	✓	✓	✓
DetNet	✕	✕	✕	Pre-Net	✓	✕	✓
TILDE	✕	✕	✓	Siamese-Net	✕	✓	✓
LIFT	✕	✓	✓	Triplet-Net	✕	✓	✓
Multiscale	✓	✓	✓	LIFT	✕	✓	✓
SuperPointer	✓	✓	✓	SuperPointer	✓	✓	✓