Can you list some scale and rotational invariant feature descriptors for use in feature detection.
The application is for the detection of cars and humans in video captured by a UAV, using a multi-class classifier.
So far I have been looking at SIFT and MSER (which is affine invariant). I have also looked at LESH, LESH is based on the local energy model, but is calculated in a way that is not rotationally invariant, I have been trying to think of a way to make use of the Local energy, to build a rotationally invariant feature descriptor, I read here What are some free alternatives to SIFT/ SURF that can be used in commercial applications? ,that " if you assign orientation to the interest point and rotate the image patch accordingly, you get rotational invariance for free", but don't know if this is even relievent or how i could apply this to my problem, any help would be appreciated, thanks