Robotic Applications of "Feature Detection" and "Feature Description" Algorithms

Robotic Applications of "Feature Detection" and "Feature Description" Algorithms Paper details: Feature Detection and Description Algorithms: SIFT, SURF, BRIEF, BRISK, FAST, ORB, CENSURE, FREAK, MSER Review should include the following topics 1- Fundementals (working principle, algorithm and formulas) of each "Feature Detection" and "Feature Description" Algorithm 2- Fundementals of RANSAC algorithm 3- How "Homography calculations" are made. 4- Robotic applications of the algorithms. Recent (2010-2016) applications are good for me. Localization and path planning applications are good for me.