When to use what feature? SIFT, SURF, ORB, or A-KAZE features for monocular visual odometry

Hsiang-Jen Chien, Chen-Chi Chuang, Chia-Yen Chen, Reinhard Klette. When to use what feature? SIFT, SURF, ORB, or A-KAZE features for monocular visual odometry. In Donald G. Bailey, Gourab Sen Gupta, Stephen Marsland, editors, 2016 International Conference on Image and Vision Computing New Zealand, IVCNZ 2016, Palmerston North, New Zealand, November 21-22, 2016. pages 1-6, IEEE, 2016. [doi]

@inproceedings{ChienCCK16,
  title = {When to use what feature? SIFT, SURF, ORB, or A-KAZE features for monocular visual odometry},
  author = {Hsiang-Jen Chien and Chen-Chi Chuang and Chia-Yen Chen and Reinhard Klette},
  year = {2016},
  doi = {10.1109/IVCNZ.2016.7804434},
  url = {http://dx.doi.org/10.1109/IVCNZ.2016.7804434},
  researchr = {https://researchr.org/publication/ChienCCK16},
  cites = {0},
  citedby = {0},
  pages = {1-6},
  booktitle = {2016 International Conference on Image and Vision Computing New Zealand, IVCNZ 2016, Palmerston North, New Zealand, November 21-22, 2016},
  editor = {Donald G. Bailey and Gourab Sen Gupta and Stephen Marsland},
  publisher = {IEEE},
  isbn = {978-1-5090-2748-4},
}