Detection and Tracking of Corner Points for Structure from Motion

摘要

This report describes the first stage in solving the structure from motion problem, which is to detect feature points and track them from frame to frame. A number of detectors from the literature, as well as some specially developed detectors, are assessed using a fly-over sequences of Parafield control tower. It is found by this measure that the Harris detector is the best of the conventional detectors, and that two new detectors (the Generalised Hough transform and covariance tracking based methods) appear to give even better results for many cases. Finally, a method for detecting corners by fusing the outputs of numerous detectors is described.