“…[14,15]), here we aim to provide a definitive benchmark of over a range of hand-tuned features of varying complexity (namely: FREAK [16], DAISY [17], BRISK [18], ORB [19], KAZE [20], AKAZE [21]) against the mainstay of prior work in the field (i.e. SIFT [7] / SURF [8] with [1,4,3,2]). To these ends, we present an overview of a classical BoVW architecture (Section 2) into which we present both the by-product availability of complexity analysis ( Figure 2) and our comparative performance evaluation (Section 3).…”