cFAST: A fast color feature detector

By extending the basic idea of FAST it is possible to create a detector that can operate directly on a RGB color image and on it detect a higher number of features. The higher number of points and the simplification of the metric put us in the position to impose an additional condition on the keypoints. In order to do so we picked up a problem of FAST and defined a condition for similar points. This additional condition enables results that are better than FAST with regard to stability. Furthermore this condition enables a fast implementation, so that with the triple amount of input data due to the color channels less than threefold of time is required.