A method of building a database for an object recognition system includes acquiring several multi-view images of a target object and then extracting a first set of features from the images. One of these extracted features is then selected and a second set of features is determined based on which of the first set of features include both, descriptors that match and keypoint locations that are proximate to the selected feature. If a repeatability of the selected feature is greater than a repeatability threshold and if a discriminability is greater than a discriminability threshold, then at least one derived feature is stored to the database, where the derived single feature is representative of the second set of features.