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flat region:
no change in
all directions
edge:
no change along
the edge direction
corner:
significant change
in all directions
E (u , v) w( x, y ) I ( x u , y v ) I ( x, y )
x, y
Window
function
Shifted
intensity
Intensity
or
1 in window, 0 outside
Gaussian
E (u , v) u , v
u
M
v
I x2
M w( x, y )
x, y
I x I y
I x I y
2
I y
E (u , v) u , v
u
M
v
1, 2 eigenvalues of M
direction of the
fastest change
direction of the
slowest change
(max)-1/2
(min)-1/2
Edge
2 >> 1
Corner
1 and 2 are large,
1 ~ 2;
E increases in all
directions
Flat
region
Edge
1 >> 2
1
R det M k trace M
det M 12
trace M 1 2
(k empirical constant, k = 0.04-0.06)
Edge
R<0
Corner
R>0
Flat
|R| small
Edge
R<0
1
Harris Detector
The Algorithm:
Find points with large corner response
function R (R > threshold)
Take the points of local maxima of R
threshold
x (image coordinate)
x (image coordinate)
Corner !
Photometry
Affine intensity change (I a I + b)