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- Real-Time Object Recognition Based on Cortical Multi-scale KeypointsPublication . Terzic, Kasim; Rodrigues, J. M. F.; du Buf, J. M. H.In recent years, a large number of impressive object categorisation algorithms have surfaced, both computational and biologically motivated. While results on standardised benchmarks are impressive, very few of the best-performing algorithms took run-time performance into account, rendering most of them useless for real-time active vision scenarios such as cognitive robots. In this paper, we combine cortical keypoints based on primate area V1 with a state-of-the-art nearest neighbour classifier, and show that such a system can approach state-of-the-art categorisation performance while meeting the real-time constraint.