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I also tried Orb instead of SURF as Keypoint detector and found the problem with using ORB is it doesn't have very good non-maximal suppression. It tends to return Keypoints clumped very closely together. Fortunately for me I can use nonfree since it is not a commercial product.
What other free Keypoint detectors have you tried? Besides for ORB there are BRISK, StarDetector, GFTTDetector. Why not give either one of these a shot?
