An image registrations includes determining a first binary descriptor of a first key point in a first image, determining a second binary descriptor of a second key point in a second image, determining a weighted Hamming distance between the first binary descriptor and the second binary descriptor, and registering the first key point with the second key point when the weighted Hamming distance is below a noise threshold. At least one element in the first or the second binary descriptor is a result of a comparison of a difference between intensities of at least two pixels of the first or the second image with a threshold. At least two weights of the weighted Hamming distance for comparing at least two elements of the first or the second binary descriptors are different.