| Name | Detector | Descriptor | Invariance | Pros and cons |
|---|---|---|---|---|
| Harris | points with high gradient in two orthogonal directions | The two eigenvalues, but very weak | Rotation, scale somewhat, intensity | |
| FAST | points with enough consecutive pixels on a circle around them that are brighter of darker than them | - | Rotation | faster but less robust than harris |
| SIFT | ||||
| SURF | ||||
| BRIEF | - | set of binary comparisons of intensity between pairs of pixels on a smoothed patch | - |