Fast corner detection

This paper describes a new corner detection algorithm, based on the property of corners that the change of image intensity should be high in all directions. Consequently, the corner response function (CRF) is computed as a minimum change of intensity over all possible directions. To compute the intensity change in an arbitrary direction an interpixel approximation is used. A multigrid approach is employed to reduce the computational complexity and to improve the quality of the detected corners. This algorithm, and other popular corner detectors, were evaluated and compared on the basis of their consistency, accuracy and speed using a range of images and video sequences. It was found that our algorithm performs well compared to the other algorithms, but it is significantly faster to compute. (C) 1998 Elsevier Science B.V.