A survey of image corner detection methods

In this paper, we present an overview of various corner detection approaches that have been proposed in the last four decades. Corner detection algorithms can be broadly divided into intensity-based, contour-based and model-based methods. Intensity-based methods are mainly based on measuring local intensity variation of image. Contour-based methods find corners by analyzing the shape of edge contour. Model-based methods extract corners by fitting the local image into a predefined model. Furthermore, the robustness of eight different popular detectors are evaluated using the average repeatability and localization error criterions.