Research on Indoor Localization Algorithm Based on Multi-scale Features Detection

As the result of the requirements of accuracy and speediness of indoor localization algorithm, we improved the performance of corner detection algorithm. In this paper, the theory of multi-scale is introduced into the classical harris algorithm, and detects local maximum points at each scale level. This method might overcome the drawback that the single-scale harris detector usually leads to either missing significant corners or detecting false corners due to noise, and it not only maintains the advantages of traditional harris corner which is invariant to the changes of intensity and camera pose but also can be used in multi-scale. Experimental results demonstrate the effectiveness of the proposed algorithm.