A Target Corner Detection Algorithm Based on the Fusion of FAST and Harris

Corner detection is a common method to obtain image features, and the detection effect influences the performance of matching and tracking directly. A FAST-Harris fusion corner detection algorithm is proposed to improve the shortcomings of the Harris algorithm, such as the low detection accuracy and low positioning accuracy, and a corner detection fusion model is established. First, the detected target image is padded, and then the FAST algorithm is used with a 25% reduced contrast points to achieve fast capture roughly; in this way, a candidate corner set is obtained. Then, screening the candidate corner is set one by one by calculating the response function of the Harris with Scharr operator to achieve capture accurately. Finally, the real corners are obtained using SAD for nonmaximum suppression. The positioning error, error detection rate, robustness, and running time of corner detection are obtained by the PyCharm platform. Compared with Harris, the error detection rate and localization error of the algorithm are reduced by 16.89% and 42.04%, respectively. Compared with 8 popular corner detection algorithms, the error detection rate and localization error of the algorithm in this paper are the lowest, which are 24.60% and 1.42 pixels. The robust performance in lossy JPEG compression is the best, with 17.37% shorter running time than Harris algorithm. The method in this paper can be used in scenarios such as autonomous driving and image search services.