1. A method to create a database used for detecting a planar target, the method comprising: receiving an image of the planar target having a reference coordinate system; first processing the image of the planar target, wherein first processing comprises: detecting a plurality of keypoints in the planar target; and determining a descriptor around each of the plurality of keypoints in the planar target, thereby resulting in the plurality of keypoints and corresponding descriptors of the image of the planar target; second processing a first warped image, wherein second processing comprises: warping the planar target to form the first warped image having a first warped coordinate system; detecting a plurality of keypoints in the first warped image; determining a descriptor around each of the plurality of keypoints of the first warped image, thereby resulting in the plurality of keypoints and corresponding descriptors of the first warped image; and transforming coordinates of the plurality of keypoints of the first warped image between the first warped coordinate system and the reference coordinate system; and joining at least some of the plurality of keypoints and the corresponding descriptors of the first warped image with at least some of the plurality of keypoints and the corresponding descriptors of the planar target to form a single dataset in the database for the image of the planar target.