In the fields of computer vision and image analysis, the scale-invariant feature operator (or SFOP) is an algorithm to detect local features in images. The algorithm was published by Förstner et al. in 2009.
Algorithm The scale-invariant feature operator (SFOP) is based on two theoretical concepts:
spiral model feature operator Desired properties of keypoint detectors:
Invariance and repeatability for object recognition Accuracy to support camera calibration Interpretability: Especially corners and circles, should be part of the detected keypoints (see figure). As few control parameters as possible with clear semantics Complementarity to known detectors scale-invariant corner/circle detector.
Theory
Maximize the weight Maximize the weight w {\displaystyle w} = 1/variance of a point p {\displaystyle p}
w ( p , α , τ , σ ) = ( N ( σ ) − 2 ) λ m i n ( M ( p , α , τ , σ ) ) Ω ( p , α , τ , σ ) {\displaystyle w(\mathbf {p} ,\alpha ,\tau ,\sigma )=\left(N(\sigma )-2\right){\frac {\lambda _{min}(M(\mathbf {p} ,\alpha ,\tau ,\sigma ))}{\Omega (\mathbf {p} ,\alpha ,\tau ,\sigma )}}}
comprising: 1. the image model
Ω ( p , α , τ , σ ) = ∑ n = 1 N ( σ ) [ ( q n − p ) T R α ∇ T g ( q n ) ] 2 G σ ( q n − p ) = N ( σ ) t r { R α ∇ τ ∇ τ T R α T ∗ p p T G σ ( p ) } {\displaystyle {\begin{aligned}\Omega (\mathbf {p} ,\alpha ,\tau ,\sigma )&=\sum _{n=1}^{N(\sigma )}[(\mathbf {q} _{n}-\mathbf {p} )^{T}\mathbf {R} _{\alpha }\mathbf {\nabla } _{T}g(\mathbf {q} _{n})]^{2}G_{\sigma }(\mathbf {q} _{n}-\mathbf {p} )\\&=N(\sigma )\mathbf {tr} \left\{R_{\alpha }\mathbf {\nabla } _{\tau }\mathbf {\nabla } _{\tau }^{T}R_{\alpha }^{T}*\mathbf {p} \mathbf {p} ^{T}G_{\sigma }(\mathbf {p} )\right\}\end{aligned}}}
2. the smaller eigenvalue of the structure tensor
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