CPSC 643, Presentation 2. SURF : Speeded-Up Robust Features. Herbert Bay a , Andreas Ess a , Tinne Tuytellares b , Luc Van Gool a,b a ETH Zurich b K. U. Leuven, ESAT-PSI Sternwartstrasse 7 Kasteel Arenberg 10
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Herbert Baya, Andreas Essa, Tinne Tuytellaresb, Luc Van Goola,b
aETH Zurich bK. U. Leuven, ESAT-PSI
Sternwartstrasse 7 Kasteel Arenberg 10
CH-8092 Zurich B-3001 Leuven
Computer Vision and Image Understanding (CVIU)
Vol.110, No.3, pp. 346-359, 2008.
Approximated second order derivatives with box filters.
Scale analysis with constant image size
x response y response
Side length = 4s
Cost 6 operation to
compute the response
Circular neighborhood of
radius 6s around the interest point
(s = the scale at which the point was detected)
Fast indexing through the sign of the Laplacian for the underlying interest point
The sign of trace of the Hessian matrix
Trace = Lxx + Lyy