It selected corners as features, removed influence of image stretch, skew, rotation, and translation by calculating affine invariant, so matching accuracy and speed were improved. 该算法使用角作为图像匹配选取的特征,通过仿射不变处理,消除图像缩放、扭曲、旋转和平移等变化产生的影响,提高了特征匹配的精度和正确匹配率。
Finally, the curvature product of each point is computed through multiple scales, and local extremes of the curvature product are selected as corners when the value exceeds a threshold. 最后,计算曲线上各点在多个尺度下的曲率值乘积,并将曲率乘积的局部极值超过给定阈值的那些点检测为角点。