What algorithms can recommend to track the marker in augmented reality?

Played around with Vuforia. Works really well, but there are some points that confuse (price, work and service)
And here if to write it yourself. In General, the search for closed contours is clear. Vuforia builds a cloud of reference points in advance, and then looking for that cloud in the picture.
And now I wonder, as a cloud of reference points from the perspective of the photograph first selected, and secondly compared with the point cloud marker. Compared with different views of the marker? What are the search algorithms of similarity such arrays?
July 2nd 19 at 16:58
1 answer
July 2nd 19 at 17:00
Solution
SIFT/RANSAC

well, or just the cascades Hoare, if the token is a special picture.

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