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This web page grozi-detect.blogspot.com states the following, "Wednesday, March 3, 2010." We saw that the webpage said " Using the nimble approach to grocery detection uses what is called non parametric density estimation to determine the probability that a detected key point is in the image." It also said " Given a mosaic as below. We compute what looks like a heat map for each class. Sunday, February 28, 2010. Next step start applying some detection algorithms to these points. As you can see I got the old cascade working on it, just i forgot to make it output its final surf homographies, still works thou."