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The increasing availability of texture+depth (RGBD) content has recently motivated research towards the design of image features able to employ the additional geometrical information provided by depth. Indeed, such features are supposed to provide higher robustness than conventional 2D features in presence of large changes of camera viewpoint. In this paper we consider the first stage of RGBD image matching, i.e., keypoint detection. In order to obtain viewpoint-covariant keypoints, we design adoi:10.1109/tmm.2016.2590305 fatcat:geddtuuahzhiplbm46ymuzn7pe