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. Author manuscript; available in PMC: 2016 Aug 29.
Published in final edited form as: Med Image Comput Comput Assist Interv. 2011;14(Pt 3):66–74. doi: 10.1007/978-3-642-23626-6_9

Table 1.

Summary of keypoint detection and feature extraction

Scale Inv. Rotation Inv. Keypoint Detection Features
Yes Yes DoGSS Scale & Rotation Invariance
Yes No DoGSS Scale Invariance
No Yes DoG Rotation Invariance
No Yes Dense sampling Rotation Invariance
No No DoG No Invariance
No No Dense sampling No Invariance
No No Dense sampling No Invariance (Raw Intensity)