This article presents a novel scale-and rotation-invariant detector and descriptor, coined
SURF (Speeded-Up Robust Features). SURF approximates or even outperforms previously
proposed schemes with respect to repeatability, distinctiveness, and robustness, yet can be
computed and compared much faster. This is achieved by relying on integral images for
image convolutions; by building on the strengths of the leading existing detectors and
descriptors (specifically, using a Hessian matrix-based measure for the detector, and a …