FAST keypoint detector

Source: http://medium.com/data-breach/introduction-to-orb-oriented-fast-and-rotated-brief-4220e8ec40cf Parent: ORB descriptor

FAST (Features from Accelerated and Segments Test)

How it works

• Given: pixel p, surrounded by other pixels in the image

• Take the surrounding pixels that are in a small circle around p

• If more than half of the surrounding pixels are darker/brighter than p, p is selected as a keypoint

• Good for edge detection

Drawbacks

• Noninvariant with respect to orientation and scaling