1. A method, the method comprising: performing, using one or more processors for each image of a set of images, characterizing the each image with a set of sparse feature descriptors and a set of dense feature descriptors, wherein both the set of sparse feature descriptors and the set of dense feature descriptors are calculated based on a fixed rotation; indexing the set of images in a feature index comprising the set of sparse feature descriptors for the each image of the set of images, and the set of dense feature descriptors for the each image of the set of images; characterizing a query image with a set of sparse feature descriptors of the query image, and a set of dense feature descriptors of the query image; performing a rotated local Bag-of-Features (BoF) operation upon a set of rotated query images and the set of images; and ranking each of the set of images based on the rotated local Bag-of-Features (BoF) operation.