Lepetit and Fua ( 19 ) showed a keypoint - based approach to classification problem that shifted the computational burden to a training phase .
Lepetit and Fua ( 19 ) resulted in a robust , accurate , and fast - enough for real time performance .
Lepetit and Fua ( 19 ) showed a keypoint - based approach to classification problem that shifted the computational burden to a training phase , and resulted in a robust , accurate , and fast - enough for real time performance .