Features from accelerated segment test: Difference between revisions

Revision as of 00:06, 13 June 2013

Revision as of 22:39, 15 July 2013

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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, eachEach 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_p) 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_x) > I_p + threshold t

*Condition 2: A set of N contiguous pixels S, ∀ x ∈ S, I_x < I_p - t