Real-time corner detection algorithm for motion estimation

doi:10.1016/0262-8856(95)98864-P

Image and Vision Computing

Volume 13, Issue 9, November 1995, Pages 695-703

https://doi.org/10.1016/0262-8856(95)98864-P Get rights and content

Abstract

This paper presents a fast algorithm for corner detection based on the observation that the total curvature of the grey-level image is proportional to the second order directional derivative in the direction tangential to edge normal, and inversely proportional to the edge strength (norm of the edge normal). This algorithm simply takes the difference of the second tangential derivative with the edge strength, where the first term is the cornerness measurement and the second is called a false corner suppression. A subpixel addressing mechanism (called linear interpolation) is utilized for intermediate pixel addressing in the differentiation step, which results in improved accuracy of corner localization and reduced computational complexity. The analysis of corner dislocation leads to a subpixel implementation. The corner finder is implemented on a hybrid parallel processor PARADOX with a performance of 14 frames/s for the vision algorithm Droid.

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In template-based mechanisms, multiple orientation corner templates are used to cover all types of corners consuming immense computational resources and time. The geometry-based corner detectors are further diversified to many formulations, such as edge-related [16,33], topological feature-based [7,8] and auto-correlation-based [14,21,27] techniques. The edge-related models consider a corner point as an intersection of two or more straight lines [1] while topology-based models consider a corner point as a geometry feature point on the image plane.
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Real-time corner detection algorithm for motion estimation

Abstract

Image & Vision Comput.

Comput. vision, Graph. Image Process.: Image Understanding

Patt. Recogn. Lett.

Artif. Intell.

Optimal corner detector

Comput. Vision, Graph. Image Process.

Grey level corner detection: a generalization and a robust real time implementation

Comput. Vision, Graph. Image Process.

A combined corner and edge detector

Corner detection using the facet model

A computational approach to edge detection

IEEE Trans. PAMI

Theory of edge detection

Retriving 3D information from video for robot control and surveillance

Electr. & Comm. Eng. J.

Estimating 3-D egomotion from erspective image sequences

IEEE Trans. PAMI

Vision for mobile robots

Phil. Trans. R. Soc. Lond. B

Description of image surface

Volumetric model and 3-D trajectory of a moving car derived from monocular TV-frame sequence of a street scene

Comput. Vision, Graph. Image Process.

Determination of ego-motion from matched points

Towards automatic visual obstacle avoidance