“…They are used, after making them invariant to scale and translation, as object descriptors in pattern recognition applications [3][4][5][17][18][19] and in image retrieval tasks [20,21] with considerable results. Recently, due to their popularity, many methods for accelerating their computation time have been proposed [9,[22][23][24][25][26] in order to make them more useful, especially in real time applications, where time is a critical factor.…”