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== Segment test detector ==
FAST corner detector uses a circle of 16 pixels (a Bresenham circle of radius 3) to classify whether a candidate point p is actually a corner. As could be seen from Figure 1, each pixel in the circle is labeled from integer number 1 to 16 clockwise. If a set of N contiguous pixels in the circle are all brighter than the intensity of candidate pixel p (denoted by I<sub>p</sub>) plus a threshold value t or all darker than the intensity of candidate pixel p minus threshold value t, then p is classified as corner. The conditions can be written as:
*Condition 1: A set of N contiguous pixels S, ∀ x ∈ S, the intensity of x (I<sub>x</sub>) > I<sub>p</sub> + threshold t
*Condition 2: A set of N contiguous pixels S, ∀ x ∈ S, I<sub>x</sub> < I<sub>p</sub> - t
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