Corner Detection - The Trajkovic and Hedley Corner Detector

The Trajkovic and Hedley Corner Detector

In a manner similar to SUSAN, this detector directly tests whether a patch under a pixel is self-similar by examining nearby pixels. is the pixel to be considered, and is point on a circle centered around . The point is the point opposite to along the diameter.

The response function is defined as:

This will be large when there is no direction in which the centre pixel is similar to two nearby pixels along a diameter. is a discretised circle (a Bresenham circle), so interpolation is used for intermediate diameters to give a more isotropic response. Since any computation gives an upper bound on the, the horizontal and vertical directions are checked first to see if it is worth proceeding with the complete computation of .