Algorithm for FAST corner detection

摘要

An apparatus and method to find a specified number of corners and/or interest points in an image is presented. In some embodiments, a method to find a specified number of corners in a digital image comprises receiving a digital image containing a plurality of candidate corners; directly calculating a threshold score (S) for a center pixel, for each of the plurality of candidate corners, to form a plurality of scores; sorting, by the plurality of scores, the plurality of candidate corners to form a sorted list; and selecting corner locations sequentially from the sorted list based on the certain number of corners. The methods described may be implemented using any combination of hardware, software and firmware.

主权项

1. A method to find a specified number of corners in a digital image, the method comprising:
receiving the digital image containing a plurality of candidate corners; calculating a threshold score (S) comprising a maximum of a brightness score (SB) and a darkness score (SD), using a set of non-iterative min-max operations, for each of a plurality of center pixels to form a plurality of scores, wherein each center pixel corresponds to a distinct individual candidate corner in the plurality of candidate corners, wherein for each candidate corner:
the threshold score (S) comprises a maximum of a brightness score (SB) and a darkness score (SD);the brightness score (SB) and the darkness score (SD) each comprises a difference between an intensity of pixels; andthe intensity of pixels comprises a minimum intensity, for the brightness score (SB), or a maximum intensity, for the darkness score (SD), of intensities of the pixels; sorting, by the plurality of scores, the plurality of candidate corners to form a sorted list; and selecting corner locations sequentially from the sorted list based on the specified number of corners.