Improving RGB Descriptors Using Depth Cues

Geometrical distortions are tackled in different way in multiple keypoint detection and feature extraction algorithms. However, those are implemented as an integral part of the solution, making it impossible to use the same distortion removal method in other solutions. To the best of authors knowledge, there are no universal methods of distortion removal, that can be used as an intermediate step, between keypoint detection and feature extraction. Creating that kind of algorithm, instead of development of yet another `robust descriptor', will enable seamless integration in existing applications, and, possibly, will increase object recognition success rate, independent of the selected keypoint detector/descriptor pair.