Method and apparatus for identifying local features

A method of local feature identification, comprising the steps of: retrieving data representing a lightfield (101); forming an epipolar volume (V) from the retrieved data; applying a transform to epipolar planes retrieved from said epipolar volume, so as to represent said epipolar planes in a new space (106); identifying a plurality of epipolar lines (107); identifying local features (fp) based on at least some of said epipolar lines (108).