Sojka Corner Detection Algorithm

TUDelft
Sojka Corner Detection Algorithm
Corner Model Definition III
Gradient direction vector:
n
i
=
( cosϕ , sinϕ
)
i
i
Convex corner:
n
1
×n2
>
0
Concave corner:
n
1
×n2
<
0
b
Brightness definition:
( X )
=
⎧min
⎨
⎩max
{ ψ ( n ⋅ ( X − C)
),
ψ ( n ⋅ ( X − C)
)}
1
{ ψ ( n ⋅ ( X − C)
),
ψ ( n ⋅ ( X − C)
)}
1
2
2
if
n
1
× n
2
otherwise
≥
0
Screen Estimation for A Novel Pointing Device Based on Corner Detection and Classification. Qing Xia, Wei Huang 33