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This document loads an image, converts it to grayscale, calculates image gradients, and applies four different corner detection algorithms - Harris, Triggs, Szeliski, and Shi-Tomasi - to detect corners in the image. For each algorithm, it calculates a response matrix, applies non-maximum suppression to find local maxima, thresholds to extract corner points, and plots the detected corners on the original image for comparison.

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Sahar Liaqat
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36 views2 pages

Code

This document loads an image, converts it to grayscale, calculates image gradients, and applies four different corner detection algorithms - Harris, Triggs, Szeliski, and Shi-Tomasi - to detect corners in the image. For each algorithm, it calculates a response matrix, applies non-maximum suppression to find local maxima, thresholds to extract corner points, and plots the detected corners on the original image for comparison.

Uploaded by

Sahar Liaqat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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I_rgb=imread('Image_2.

jpg');
I=rgb2gray(I_rgb);

% Using Prewitt approximation for image gradients Ix, Iy


dx=[-1 0 1;-1 0 1; -1 0 1];
dy=[1 1 1;0 0 0; -1 -1 -1];

% Image Gradients of each pixel


Ix=conv2(double(I),dx,'same');
Iy=conv2(double(I),dy,'same');

% 6x6 Gaussian Filter for Harris


sigma=1;
G=fspecial('gaussian', max(1,fix(6*sigma)),sigma);

% Structure Tensor elements


Ix2=conv2(Ix.*Ix,G,'same');
Ixy=conv2(Ix.*Iy,G,'same');
Iy2=conv2(Iy.*Iy,G,'same');

% Threshold for decision


threshold=0.36;

% Trace of Structure Tensor Matrix


trace=Ix2+Iy2;

% Determinant of Structure Tensor Matrix


det=((Ix2.*Iy2)-(Ixy.^2));

% Eigen values of Structure Tensor Matrix


Lambda0=abs(0.5*((trace)+sqrt((trace.^2)-(4*det))));
Lambda1=abs(0.5*((trace)-sqrt((trace.^2)-(4*det))));

% Harris corner detector


R1=det-(0.04*(trace.^2));
minr = min(min(R1));
maxr = max(max(R1));
R1 = (R1 - minr) / (maxr - minr);%scaling to 0-1 range
maxima1 = ordfilt2(R1, 25, ones(5));%finding maxima
mask1 = (R1 == maxima1) & (R1 > threshold);%applying threshold
maxima1 = mask1.*R1;%extracting the intensities of corner points
[r1,c1]=find(maxima1);%finding the indices of corner points
subplot(221)
imshow(I)
hold on
plot(c1,r1,'r+')
title('Harris')

% Triggs corner detector


R2=Lambda0-(0.05*Lambda1);
minr = min(min(R2));
maxr = max(max(R2));
R2 = (R2 - minr) / (maxr - minr);%scaling to 0-1 range
maxima2 = ordfilt2(R2, 25, ones(5));%finding maxima
mask2 = (R2 == maxima2) & (R2 > threshold);%applying threshold
maxima2 = mask2.*R2;%extracting the intensities of corner points
[r2,c2]=find(maxima2);%finding the indices of corner points
subplot(222)
imshow(I)
hold on
plot(c2,r2,'r+')
title('Triggs')

%Szeliski corner detector


R3 = det ./ trace;
minr = min(min(R3));
maxr = max(max(R3));
R3 = (R3 - minr) / (maxr - minr);%scaling to 0-1 range
maxima3 = ordfilt2(R3, 25, ones(5));%finding maxima
mask3 = (R3 == maxima3) & (R3 > threshold);%applying threshold
maxima3 = mask3.*R3;%extracting the intensities of corner points
[r3,c3]=find(maxima3);%finding the indices of corner points
subplot(223)
imshow(I)
hold on
plot(c3,r3,'r+')
title('Szleiski')

%Shi-Tomasi corner detector


R4=min(Lambda0,Lambda1);
minr = min(min(R4));
maxr = max(max(R4));
R4 = (R4 - minr) / (maxr - minr);%scaling to 0-1 range
maxima4 = ordfilt2(R4, 25, ones(5));%finding maxima
mask4 = (R4 == maxima4) & (R4 > threshold);%applying threshold
maxima4 = mask4.*R4;%extracting the intensities of corner points
[r4,c4]=find(maxima4);%finding the indices of corner points
subplot(224)
imshow(I)
hold on
plot(c4,r4,'r+')
title('Shi-Tomasi')

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