Learning OpenCV 3: Computer Vision in C++ with the OpenCV Library by Adrian Kaehler & Gary Bradski

Author:Adrian Kaehler & Gary Bradski [Kaehler, Adrian]
Language: eng
Format: azw3
Publisher: O'Reilly Media
Published: 2016-12-13T16:00:00+00:00

Figure 16-16. The point P is a keypoint candidate for the FAST algorithm. The ring of points that contribute to the classification of P are identified by a circle around p. In this case there are 16 pixels on that circle, numbered 0–15 here

To avoid this problem, the FAST algorithm defines a score for each corner, and can remove all keypoints that are adjacent to keypoints of higher score. We construct the score by first computing the sum of absolute differences between the “lighter” pixels and the center pixel, then doing the same for the darker pixels, and finally taking the greater of these two.

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