An Affine Resilient Curvature Scale-Space Corner Detector

Curvature scale-space (CSS) corner detectors look for curvature maxima or inflection points on planar curves. They use arc-length parameterized curvature. Therefore, they are not robust to affine transformations since the arc-length of a curve is not preserved under affine transformations. However, the affine-length of a curve is relatively invariant to affine transformations. This paper presents an improved CSS corner detector by applying the affine-length parameterized curvature to the CSS corner detection technique. A thorough robustness study has been carried out on a large database considering a wide range of affine transformations.