Patent Document ID: 9558426
Application ID: 14696202
Patent Flag: 1

Claim One:
1. A method of identifying robust features within a training image at a feature detection device, the method comprising: generating, by the feature detection device, training features by applying a feature detection algorithm to the training image, each training feature having a training feature location within the training image; transforming, by the feature detection device, at least a portion of the training image into a transformed image in accordance with a predefined image transformation; generating, by the feature detection device, transform features by applying the feature detection algorithm to the transformed image, each transform feature having a transform feature location within the transformed image; mapping, by the feature detection device, the training feature locations of the training features to corresponding training feature transformed locations within the transformed image in accordance with the predefined image transformation; and compiling, by the feature detection device, a robust feature set by selecting robust features, wherein each robust feature represents a training feature having a training feature transformed location proximal to a transform feature location of one of the transform features.