US Patent 9811760 Online per-feature descriptor customization

An image processing system includes a processing device having a memory device for storing computer-executable instructions. The processing device is programmed to define a first descriptor in a first image, generate a mask from the first descriptor, and define a second descriptor in a second image. The processing device is further programmed to compare the first descriptor to the second descriptor to define a first error vector, determine a second error vector by applying a mask, and compute the total error of the second error vector to determine an error between the first descriptor and the second descriptor.