For robust wide baseline matching:

1) Use combination of MSER and Hessian-Affine with RootSIFT as a descriptor

2) Do iteratively increasing affine view synthesis  - from sparse to dense

So you can match both fast for easy pairs and reliably for extreme (80 degrees of view point difference) pairs of same view of the object. Works for non-planar objects as well, much better than ASIFT.