An improved corner detection for images obtained by UUV

In order to ensure the images captured by UUV accurately matched in spite of low contrast and environmental noise, an improved corner detection algorithm is proposed. Firstly, FAST algorithm with adaptive threshold is applied to eliminate redundant corners. Secondly, Harris operator combined with contourlet transform is used to detect corners in multi-scale and multi-direction. Finally, a circular template is applied for non-maxima suppression. Simulation studies are performed based on the experimentally captured gray images to demonstrate the effectiveness, real-time and robustness of the proposed algorithm.