diff --git a/AUTHORS b/AUTHORS
index 77efebc772..095b37095f 100644
--- a/AUTHORS
+++ b/AUTHORS
@@ -154,5 +154,9 @@ the GitHub contributors page (https://github.com/MRPT/mrpt/graphs/contributors).
 * Alisa Chukaeva (LisGein), Moscow Technological University (2017)
   - The application robot-map-gui.
 
+* Raghavender Sahdev, York University, Canada (GSoC 2017) https://github.com/raghavendersahdev
+  - The application benchmarking-image-features
+  - added files in the mrpt/libs/vision (detectors: AKAZE, LSD line detectors; descriptors: LATCH, BLD)
+
 Several bug reports have been provided from MRPT users world-wide. We kindly thank all of
 them for this valuable feedback, and they are usually mentioned in changelogs.
diff --git a/doc/man-pages/CMakeLists.txt b/doc/man-pages/CMakeLists.txt
index 21a0dc90c9..4209e94305 100644
--- a/doc/man-pages/CMakeLists.txt
+++ b/doc/man-pages/CMakeLists.txt
@@ -79,6 +79,7 @@ IF (PROG_GZIP AND PROG_POD2MAN)
 
 	CREATE_MANPAGE_PROJECT(DifOdometry-Datasets)
 	CREATE_MANPAGE_PROJECT(DifOdometry-Camera)
+	CREATE_MANPAGE_PROJECT(robot-map-gui)
 
 	CREATE_MANPAGE_PROJECT(benchmarking-image-features)
 ENDIF (PROG_GZIP AND PROG_POD2MAN)
diff --git a/libs/vision/src/CFeatureExtraction_AKAZE.cpp b/libs/vision/src/CFeatureExtraction_AKAZE.cpp
index 9e45ee3a3d..2159201dbc 100644
--- a/libs/vision/src/CFeatureExtraction_AKAZE.cpp
+++ b/libs/vision/src/CFeatureExtraction_AKAZE.cpp
@@ -1,41 +1,36 @@
-//
-// Created by raghavender on 28/06/17.
-//
+/* +------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)            |
+   |                          http://www.mrpt.org/                          |
+   |                                                                        |
+   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                |
+   | Released under BSD License. See details in http://www.mrpt.org/License |
+   +------------------------------------------------------------------------+ */
 
-#include <opencv2/features2d.hpp>
-#include <opencv2/imgcodecs.hpp>
-#include <opencv2/opencv.hpp>
+/*---------------------------------------------------------------
+	APPLICATION: CFeatureExtraction
+	FILE: CFeatureExtraction_AKAZE.cpp
+	AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
+  ---------------------------------------------------------------*/
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string>
-#include "opencv2/core.hpp"
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include "opencv2/features2d.hpp"
-#include "opencv2/xfeatures2d.hpp"
 
-#include <vector>
-#include <iostream>
 
 
-#include "vision-precomp.h"   // Precompiled headers
+// Universal include for all versions of OpenCV
+#include <mrpt/otherlibs/do_opencv_includes.h>
 
+#include "vision-precomp.h"   // Precompiled headers
 #include <mrpt/system/os.h>
 #include <mrpt/vision/CFeatureExtraction.h> // important import
 #include <mrpt/utils/CMemoryStream.h>
-#include <mrpt/otherlibs/do_opencv_includes.h>
-
 
 using namespace mrpt::vision;
 using namespace mrpt::utils;
-
 using namespace mrpt::math;
 using namespace mrpt;
-
 using namespace std;
-using namespace cv;
+
+
 
 void  CFeatureExtraction::extractFeaturesAKAZE(
         const mrpt::utils::CImage	& inImg,
@@ -48,28 +43,19 @@ void  CFeatureExtraction::extractFeaturesAKAZE(
     MRPT_UNUSED_PARAM(ROI);
     MRPT_START
 #if MRPT_HAS_OPENCV
-#	if MRPT_OPENCV_VERSION_NUM < 0x210
-        THROW_EXCEPTION("This function requires OpenCV > 2.1.0")
+#	if MRPT_OPENCV_VERSION_NUM < 0x300
+        THROW_EXCEPTION("This function requires OpenCV > 3.0.0")
 #	else
 
         using namespace cv;
-
         vector<KeyPoint> cv_feats; // The opencv keypoint output vector
-
         // Make sure we operate on a gray-scale version of the image:
         const CImage inImg_gray( inImg, FAST_REF_OR_CONVERT_TO_GRAY );
 
 
-
-#if MRPT_OPENCV_VERSION_NUM >= 0x211
-
-//    cv::Mat *mask ;
-//    if( _mask )
-//       mask = static_cast<cv::Mat*>(_mask);
+#if MRPT_OPENCV_VERSION_NUM >= 0x300
 
         const Mat theImg = cvarrToMat( inImg_gray.getAs<IplImage>() );
-
-
         Ptr<AKAZE> akaze = AKAZE::create(options.AKAZEOptions.descriptor_type , options.AKAZEOptions.descriptor_size ,
         options.AKAZEOptions.descriptor_channels , options.AKAZEOptions.threshold , options.AKAZEOptions.nOctaves ,
         options.AKAZEOptions.nOctaveLayers , options.AKAZEOptions.diffusivity);
@@ -80,13 +66,6 @@ void  CFeatureExtraction::extractFeaturesAKAZE(
         const size_t N = cv_feats.size();
 
 #endif
-
-        // Now:
-        //  1) Sort them by "response": It's ~100 times faster to sort a list of
-        //      indices "sorted_indices" than sorting directly the actual list of features "cv_feats"
-        //std::vector<size_t> sorted_indices(N);
-        //for (size_t i=0;i<N;i++)  sorted_indices[i]=i;
-        //std::sort( sorted_indices.begin(), sorted_indices.end(), KeypointResponseSorter<vector<KeyPoint> >(cv_feats) );
         // sort the AKAZE features by line length
         for(int i=0; i<N ;i++)
         {
@@ -101,16 +80,6 @@ void  CFeatureExtraction::extractFeaturesAKAZE(
             }
         }
 
-        //  2) Filter by "min-distance" (in options.FASTOptions.min_distance) // not REQUIRED FOR LSD FEATYRES
-        //  3) Convert to MRPT CFeatureList format.
-        // Steps 2 & 3 are done together in the while() below.
-        // The "min-distance" filter is done by means of a 2D binary matrix where each cell is marked when one
-        // feature falls within it. This is not exactly the same than a pure "min-distance" but is pretty close
-        // and for large numbers of features is much faster than brute force search of kd-trees.
-        // (An intermediate approach would be the creation of a mask image updated for each accepted feature, etc.)
-
-
-
 
         unsigned int	nMax		= (nDesiredFeatures!=0 && N > nDesiredFeatures) ? nDesiredFeatures : N;
         const int 		offset		= (int)this->options.patchSize/2 + 1;
@@ -126,7 +95,7 @@ void  CFeatureExtraction::extractFeaturesAKAZE(
 
         while( cont != nMax && i!=N )
         {
-            // Take the next feature fromt the ordered list of good features:
+            // Take the next feature from the ordered list of good features:
             const KeyPoint &kp = cv_feats[i];
             i++;
 
@@ -164,11 +133,8 @@ void  CFeatureExtraction::extractFeaturesAKAZE(
             ++cont;
             //cout << ft->x << "  " << ft->y << endl;
         }
-        //feats.resize( cont );  // JL: really needed???
 
 #	endif
 #endif
     MRPT_END
-
-
 }
diff --git a/libs/vision/src/CFeatureExtraction_LATCH.cpp b/libs/vision/src/CFeatureExtraction_LATCH.cpp
index 0783e30bd7..42139f22a1 100644
--- a/libs/vision/src/CFeatureExtraction_LATCH.cpp
+++ b/libs/vision/src/CFeatureExtraction_LATCH.cpp
@@ -1,51 +1,45 @@
-//
-// Created by raghavender on 28/06/17.
-//
-
-
-
-
-#include <vector>
-#include <iostream>
-
+/* +------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)            |
+   |                          http://www.mrpt.org/                          |
+   |                                                                        |
+   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                |
+   | Released under BSD License. See details in http://www.mrpt.org/License |
+   +------------------------------------------------------------------------+ */
+
+/*---------------------------------------------------------------
+	APPLICATION: CFeatureExtraction
+	FILE: CFeatureExtraction_LATCH.cpp
+	AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
+  ---------------------------------------------------------------*/
 
 #include "vision-precomp.h"   // Precompiled headers
-
 #include <mrpt/system/os.h>
 #include <mrpt/vision/CFeatureExtraction.h> // important import
 #include <mrpt/utils/CMemoryStream.h>
-#include <mrpt/otherlibs/do_opencv_includes.h>
 // Universal include for all versions of OpenCV
 #include <mrpt/otherlibs/do_opencv_includes.h>
 
 #ifdef HAVE_OPENCV_NONFREE  //MRPT_HAS_OPENCV_NONFREE
 # include <opencv2/nonfree/nonfree.hpp>
 #endif
-#ifdef HAVE_OPENCV_FEATURES2D
-# include <opencv2/features2d/features2d.hpp>
-# include <opencv2/line_descriptor.hpp>
-#endif
+
 #ifdef HAVE_OPENCV_XFEATURES2D
 # include <opencv2/xfeatures2d.hpp>
 #endif
-
-
-
+#ifdef HAVE_OPENCV_FEATURES2D
+# include <opencv2/line_descriptor.hpp>
 using namespace cv::line_descriptor;
+#endif
 
 
 using namespace mrpt::vision;
 using namespace mrpt::utils;
-
 using namespace mrpt::math;
 using namespace mrpt;
-
 using namespace std;
-#if MRPT_HAS_OPENCV
-#	if MRPT_OPENCV_VERSION_NUM>=0x211
-using namespace cv;
-#	endif
-#endif
+
+
 
 /************************************************************************************************
 *						internal_computeLATCHDescriptors
@@ -54,14 +48,15 @@ void  CFeatureExtraction::internal_computeLATCHDescriptors(
         const mrpt::utils::CImage &in_img,
         CFeatureList &in_features) const
 {
+    //function is tested with opencv 3.1
     MRPT_START
 #if MRPT_HAS_OPENCV
-#	if MRPT_OPENCV_VERSION_NUM < 0x210
-    THROW_EXCEPTION("This function requires OpenCV > 2.1.0")
+#	if MRPT_OPENCV_VERSION_NUM < 0x300
+    THROW_EXCEPTION("This function requires OpenCV > 3.0.0")
 #	else
 
+    using namespace cv;
 
-    //cout << "I am in LATCH descriptor" << endl;
     if (in_features.empty()) return;
 
     const size_t n_feats = in_features.size();
@@ -84,7 +79,6 @@ void  CFeatureExtraction::internal_computeLATCHDescriptors(
 
 
     Ptr<xfeatures2d::LATCH> latch = xfeatures2d::LATCH::create(options.LATCHOptions.bytes, options.LATCHOptions.rotationInvariance, options.LATCHOptions.half_ssd_size);
-
     latch->compute(cvImg, cv_feats, cv_descs);
 
     // -----------------------------------------------------------------
diff --git a/libs/vision/src/CFeatureExtraction_LSD_BLD.cpp b/libs/vision/src/CFeatureExtraction_LSD_BLD.cpp
index b6fe227369..1a77c80919 100644
--- a/libs/vision/src/CFeatureExtraction_LSD_BLD.cpp
+++ b/libs/vision/src/CFeatureExtraction_LSD_BLD.cpp
@@ -1,34 +1,34 @@
-//
-// Created by raghavender on 28/06/17.
-//
-
-#include <vector>
-#include <iostream>
-
+/* +------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)            |
+   |                          http://www.mrpt.org/                          |
+   |                                                                        |
+   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                |
+   | Released under BSD License. See details in http://www.mrpt.org/License |
+   +------------------------------------------------------------------------+ */
+
+/*---------------------------------------------------------------
+	APPLICATION: CFeatureExtraction
+	FILE: CFeatureExtraction_LSD_BLD.cpp
+	AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
+  ---------------------------------------------------------------*/
 
 #include "vision-precomp.h"   // Precompiled headers
-
 #include <mrpt/system/os.h>
 #include <mrpt/vision/CFeatureExtraction.h> // important import
 #include <mrpt/utils/CMemoryStream.h>
 #include <mrpt/otherlibs/do_opencv_includes.h>
 
-#ifdef HAVE_OPENCV_FEATURES2D
-# include <opencv2/features2d/features2d.hpp>
-#endif
 #ifdef HAVE_OPENCV_XFEATURES2D
 # include <opencv2/xfeatures2d.hpp>
 # include <opencv2/line_descriptor.hpp>
 using namespace cv::line_descriptor;
 #endif
 
-
 using namespace mrpt::vision;
 using namespace mrpt::utils;
-
 using namespace mrpt::math;
 using namespace mrpt;
-
 using namespace std;
 
 
@@ -36,12 +36,13 @@ void  CFeatureExtraction::extractFeaturesLSD(const mrpt::utils::CImage &inImg, C
                                              unsigned int init_ID, unsigned int nDesiredFeatures,
                                              const TImageROI &ROI) const
 {
+    //function is tested with opencv 3.1
 
     MRPT_UNUSED_PARAM(ROI);
     MRPT_START
 #if MRPT_HAS_OPENCV
-#	if MRPT_OPENCV_VERSION_NUM < 0x210
-        THROW_EXCEPTION("This function requires OpenCV > 2.1.0")
+#	if MRPT_OPENCV_VERSION_NUM < 0x300
+        THROW_EXCEPTION("This function requires OpenCV > 3.0.0")
 #	else
 
         using namespace cv;
@@ -49,41 +50,28 @@ void  CFeatureExtraction::extractFeaturesLSD(const mrpt::utils::CImage &inImg, C
         vector<KeyPoint> cv_feats; // The opencv keypoint output vector
         vector<KeyLine> cv_line;
 
+#if MRPT_OPENCV_VERSION_NUM >= 0x300
+
         // Make sure we operate on a gray-scale version of the image:
         const CImage inImg_gray( inImg, FAST_REF_OR_CONVERT_TO_GRAY );
 
-
-#if MRPT_OPENCV_VERSION_NUM >= 0x211
-
-
         const Mat theImg = cvarrToMat( inImg_gray.getAs<IplImage>() );
         /* create a random binary mask */
         cv::Mat mask = Mat::ones( theImg.size(), CV_8UC1 );
 
-
         Ptr<LSDDetector> bd = LSDDetector::createLSDDetector();
 
-        /* create a structure to store extracted lines */
-
-
         /* extract lines */
         cv::Mat output = theImg.clone();
         bd->detect( theImg, cv_line, options.LSDOptions.scale, options.LSDOptions.nOctaves, mask );
 
-
         // *All* the features have been extracted.
         const size_t N = cv_line.size();
-
+        
 #endif
 
-
         // Now:
-        //  1) Sort them by "response": It's ~100 times faster to sort a list of
-        //      indices "sorted_indices" than sorting directly the actual list of features "cv_feats"
-        //std::vector<size_t> sorted_indices(N);
-        //for (size_t i=0;i<N;i++)  sorted_indices[i]=i;
-        //std::sort( sorted_indices.begin(), sorted_indices.end(), KeypointResponseSorter<vector<KeyLine> >(cv_line) );
-
+        //  1) Sort them by "response":
         // sort the LSD features by line length
         for(int i=0; i<N ;i++)
         {
@@ -106,9 +94,6 @@ void  CFeatureExtraction::extractFeaturesLSD(const mrpt::utils::CImage &inImg, C
         // and for large numbers of features is much faster than brute force search of kd-trees.
         // (An intermediate approach would be the creation of a mask image updated for each accepted feature, etc.)
 
-
-
-
         unsigned int	nMax		= (nDesiredFeatures!=0 && N > nDesiredFeatures) ? nDesiredFeatures : N;
         const int 		offset		= (int)this->options.patchSize/2 + 1;
         const size_t	size_2		= options.patchSize/2;
@@ -179,13 +164,10 @@ void  CFeatureExtraction::extractFeaturesLSD(const mrpt::utils::CImage &inImg, C
             ++cont;
             //cout << ft->x << "  " << ft->y << endl;
         }
-        //feats.resize( cont );  // JL: really needed???
 
 #	endif
 #endif
     MRPT_END
-
-
 }
 
 
@@ -196,7 +178,13 @@ void  CFeatureExtraction::internal_computeBLDLineDescriptors(
         const mrpt::utils::CImage &in_img,
         CFeatureList &in_features) const
 {
-//#if HAVE_OPENCV_WITH_SURF
+    //function is tested with opencv 3.1
+
+#if MRPT_HAS_OPENCV
+#	if MRPT_OPENCV_VERSION_NUM < 0x300
+    THROW_EXCEPTION("This function requires OpenCV > 3.0.0")
+#	else
+
     using namespace cv;
 
     if (in_features.empty()) return;
@@ -223,15 +211,9 @@ void  CFeatureExtraction::internal_computeBLDLineDescriptors(
     bd2->detect( img, keylines, mask );
 
     /* compute descriptors */
-
     bd2->compute( img, keylines, cv_descs);
-
-
     keylines.resize(in_features.size());
 
-
-
-//gb redesign end
 	// -----------------------------------------------------------------
 	// MRPT Wrapping
 	// -----------------------------------------------------------------
@@ -247,9 +229,9 @@ void  CFeatureExtraction::internal_computeBLDLineDescriptors(
 			ft->descriptors.BLD[m] = cv_descs.at<int>(i,m);		// Get the SURF descriptor
 	} // end for
 
-//#else
-  //  THROW_EXCEPTION("Method not available: MRPT compiled without OpenCV, or against a version of OpenCV without SURF")
-//#endif //MRPT_HAS_OPENCV
+#endif // end of opencv3 version check
+
+#endif //MRPT_HAS_OPENCV
 }  // end internal_computeBLDDescriptors