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Augmented Reality (AR) requires real-time tracking to track the user’s or device position in order to register it in respect to the real world. Tracking is divided into four steps (Figure 1): The first step is detection in which keypoint detectors are used to detect the keypoints of an object. The second step in the process of tracking is a description. A descriptor is required to describe the keypoint detected in the description process. Descriptors can be divided into two types, which is vector descriptor and binary descriptor. The next step in the tracking process is matching. The keypoints of reference objects should be stored in the database in advance to match the points between the detected object with the reference objects. The last step is pose estimation. Pose estimation is to determine the position of the virtual object on top of input object. Once this process is carried out, the 3D object will be presented on top of the detected object with the correct position (Uchiyama & Marchand 2012).