key Point s = KPextraction(image_received)

matches[] = FLANN_Match_Model(image_received)

sum = 0

for i = 0; i < matches.size(); i + +) do

if (distance(matches[i]) < DISTANCE_PREFIX) then sum+ = distance(matches[i])

end if

end for

if (sum > EMPIRICAL_DATA) then print(“ObjectDetected!”)

end if