I want to use either FREAK or BRISK descriptors that should be scale and rotation invariant. I am quite confused about the following points
1. Do FREAK and BRISK need scale and rotation estimation from the detector? I thought that they can provide rotation invariant descriptions and only need scale information from the detector. Is this correct?
2. Which free detectors can I use for this task if speed is also a constraint?
My thoughts so far:
I presume that I could use the BRISK detector. I am also asking myself if this is just the Pyramid version of FAST. If this is true I could probably use other detectors by using the Pyramid modification.
These are more than just one question but I all of them are essential for me to properly use these binary descriptors.
I'm using OpenCV 2.4
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