http://docs.opencv.org/2.4.1/doc/tutorials/features2d/trackingmotion/good_features_to_track/good_features_to_track.html http://cyberleninka.ru/article/n/algoritmy-pozitsionirovaniya-mobilnogo-ustroystva-na-osnove-dannyh-ot-vstroennoy-fotokamery 87