A system for generating virtual interest points in an image, according to detected interest points in that image is detected by an interest point detector. The system includes: an interest point density map producer and an interest point generator, the interest point density map producer receiving the image including the detected interest points, the interest point density map producer extracts a density map of the detected interest points within the image. The interest point generator is coupled with the interest point density map producer, the interest point generator receiving the image including the detected interest points and the interest point density map. The interest point generator determines image areas for generating virtual interest points, the interest point generator generating at least one virtual interest point at the determined areas according to at least the position of one of the detected interest points, the virtual interest point not being detected by the interest point detector.