Rotation invariant object detection

An apparatus, comprising:

• a storage device configured to store multiple sets of template descriptors for respective previously captured two-dimensional images, each of the template descriptors comprising a template keypoint and one or more template features;
• and
• a processor configured:
• to receive a two-dimensional image of a three-dimensional object recorded at a first angle of rotation of the object,
• to identify, in the two-dimensional image, a set of image descriptors, each of the image descriptors comprising an image keypoint and one or more image features,
• to compare the set of image descriptors against the multiple sets of template descriptors,
• to identify, based on a defined threshold, a given set of template descriptors matching the set of image descriptors, the given set of template descriptors corresponding to a given previously captured two-dimensional image of the three-dimensional object recorded at a second angle of rotation of the object, and
• to add, to the given set of template descriptors, any of the image descriptors not in the given set of the of template descriptors.

A computer program product, the computer program product comprising:

• a non-transitory computer readable storage medium having computer readable program code embodied therewith, the computer readable program code comprising:
• computer readable program code configured to receive a two-dimensional image of a three-dimensional object recorded at a first angle of rotation of the object;
• computer readable program code configured to identify, in the two-dimensional image, a set of image descriptors, each of the image descriptors comprising an image keypoint and one or more image features;
• computer readable program code configured to compare the set of image descriptors against a plurality of sets of template descriptors for respective previously captured two-dimensional images, each of the template descriptors comprising a template keypoint and one or more template features;
• computer readable program code configured to identify, based on a defined threshold, a given set of template descriptors matching the set of image descriptors, the given set of template descriptors corresponding to a given previously captured two-dimensional image of the three-dimensional object recorded at a second angle of rotation of the object;
• and
• computer readable program code configured to add, to the given set of template descriptors, any of the image descriptors not in the given set of the of template descriptors.