期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：5
页码：187
DOI：10.5772/53872
语种：English
出版社：SAGE Publications
摘要：In this paper, a novel corner detection method is presented, to extract geometrically important corners for robot applications, such as indoor mobile robot navigation or manipulation. Intensity-based corner detectors, such as the Harris corner, can detect corners in noisy environments, but have inaccurate corner positions and miss the corners of obtuse angles. Edge-based corner detectors, such as the Curvature Scale Space, can detect structural corners, but show unstable corner detection due to incomplete edge detection in noisy environments. The proposed image-based direct curvature estimation can overcome limitations in both the inaccurate structural corner detection of the Harris corner detector (intensity-based) and the unstable corner detection of the Curvature Scale Space, caused by incomplete edge detection. Various experimental results validate the robustness of the proposed method.
关键词：Corner detection; intensity-based; contour-based; orientation field; curvature field
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