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    I agree with @stacker - SIFT is an excellent choice. It's very robust against scale and rotation operations. It 's somewhat robust against perspective deformation (this can be improved as suggested by stacker: a template database with different perspective views of the desired object). Its Achilles' heel in my experience would be strong lighting variations and very expensive computation. I don't know of any Java implementations. I'm aware of an OpenCV implementation and have used a GPU c++/Windows (SiftGPU) implementation suitable for realtime performance. Commented Apr 17, 2012 at 20:40
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    A note of warning: as much as I love SIFT/SURF and what they have done to me, they are patent encumbered. This might be a problem, depending on a number of conditions including geographic location AFAIK. Commented Apr 18, 2012 at 8:47
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    So try OpenCV's ORB or FREAK which have no patent issues. ORB is much faster than SIFT. ORB it is a bit poor with scale and light variations in my experience but test it yourself. Commented Sep 30, 2012 at 19:19
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    How can you accept this as an answer... None of the feature descriptors can differentiate bottles from a cans.. They all just view invariant local pattern descriptors. I agree that SIFT,SURF,ORB,FREAK etc. can help you in feature matching but.. What about your other parts of the question like occlusions, Bottle vs Can etc. I hope this is not a complete solution in fact if you would have GOOGLED your problem probably the first result would be this answer only. Commented Dec 10, 2013 at 18:54
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    @G453 you are absolutely right! Probably he was fascinated by the performance of SHIFT and forgot that feature extraction and matching was NOT THE PROBLEM... Commented Jan 3, 2014 at 8:45