- Stereo image
- binary mask
- Depth estimation
Q2: What does the descriptor contain?
It's a concatenation of vectors. The first vector is the Gaussian of the center point with a \Sigma\0, the second set of vectors are circles lying on circle R\1, the third set of vectors are circles lying of circle R\2... Each vector contains orientation maps after a Gaussian convolution.
Q4: What's the salience criteria for keypoints?
The aim of the technique is not matching these keypoints to each other by selecting the most appropriate ones. The computation is done on all keypoints. Hence no criteria for keypoint filtering is reported.