Robotic Applications of “Feature Detection” and “Feature Description” Algorithms

Paper details:

Feature Detection and Description Algorithms: SIFT, SURF, BRIEF, BRISK, FAST, ORB, CENSURE, FREAK, MSER

Review should include the following topics
1- Fundementals (working principle, algorithm and formulas) of each “Feature Detection” and “Feature Description” Algorithm
2- Fundementals of RANSAC algorithm
3- How “Homography calculations” are made.
4- Robotic applications of the algorithms. Recent (2010-2016) applications are good for me. Localization and path planning applications are good for me.