[danbruc]

Many of the steps are similar to ideas used in the scale-invariant feature transform [1]. See also the original paper [2] and an early use for automatic image stitching [3].

[1] http://en.wikipedia.org/wiki/Scale-invariant_feature_transfo...

[2] http://www.cs.ubc.ca/~lowe/papers/ijcv04.pdf

[3] http://www.cs.bath.ac.uk/brown/papers/ijcv2007.pdf