6.4.4.6 Curvature, Corners, Dominant Points, Salient Points, Junctions

Chapter Contents (Back)
Corner Detector. Curvature. 9710 See also Corner Feature Detection Techniques and Use.

Dessimoz, J.D.,
Curve Smoothing for Improved Feature Extraction from Digitized Pictures,
SP(1), 1979, pp. 205-210. BibRef 7900

Hung, S.H.Y., and Kasvand, T.,
Critical Points on a Perfectly 8- or 6-Connected Thin Binary Line,
PR(16), No. 3, 1983, pp. 297-306.
WWW Version. 9611 BibRef
Earlier: ICPR82(531-534). BibRef

Hung, S.H.Y., and Kasvand, T.,
Linear Approximations of Quantized Thin Lines,
PDA83(15-28). BibRef 8300

Langridge, D.J.,
Curve Encoding and the Detection of Discontinuities,
CGIP(20), No. 1, September 1982, pp. 58-71.
WWW Version. See also Detection of Discontinuities in the First Derivatives of Surfaces. BibRef 8209

Pineda, J.C., Horaud, P.,
An Improved Method for High-Curvature Detection with Applications to Automatic Inspection,
SP(5), 1983, pp. 117-124. BibRef 8300

Tejwani, Y.J., and Jones, R.A.,
On The Detection of Peaks and Valleys Using the Local Descriptors Method,
PAMI(6), No. 5, September 1984, pp. 629-632. BibRef 8409

Ogawa, H.,
Corner Detection on Digital Curves Based on Local Symmetry of the Shape,
PR(22), No. 4, 1989, pp. 351-357.
WWW Version. BibRef 8900

Lowe, D.G.,
Organization of Smooth Image Curves at Multiple Scales,
IJCV(3), No. 2, June 1989, pp. 119-130. BibRef 8906
And: ICCV88(558-567).
IEEE Abstract. IEEE Top Reference. Uses the third derative of Gaussian convolution of the curve to find segmentation points on the curve. See also Recovery of Three-Dimensional Structure from Image Curves, The. BibRef

Kehtarnavaz, N., and de Figueiredo, R.J.P.,
A 3-D Contour Segmentation Scheme Based on Curvature and Torsion,
PAMI(10), No. 5, September 1988, pp. 707-713.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 8809

Liu, S.T., Tsai, W.H.,
Moment-Preserving Corner Detection,
PR(23), No. 5, 1990, pp. 441-460.
WWW Version. BibRef 9000

Cabrelli, C.A., and Molter, U.M.,
Automatic Representation of Binary Images,
PAMI(12), No. 12, December 1990, pp. 1190-1196.
IEEE Abstract. IEEE Top Reference.
WWW Version. Generate break points in curves, apply to the representation of binary versions of letters. BibRef 9012

Dattatreya, G.R., Kanal, L.N.,
Detection and smoothing of edge contours in images by one-dimensional Kalman techniques,
SMC(20), No. 1, January/February, 1990. Kalman filter for smoothing boundaries. BibRef 9001

Ansari, N., and Huang, K.W.,
Non-Parametric Dominant Point Detection,
PR(24), No. 9, 1991, pp. 849-862.
WWW Version. BibRef 9100

Ansari, N., Delp, E.J.,
On Detecting Dominant Points,
PR(24), No. 5, 1991, pp. 441-451.
WWW Version. BibRef 9100

Rattarangsi, A., and Chin, R.T.,
Scale-Based Detection of Corners of Planar Curves,
PAMI(14), No. 4, April 1992, pp. 430-449.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9204
Earlier: ICPR90(I: 923-930).
WWW Version. Scale Space. Maximum of curvature of a boundary in all scales. Noise analysis. BibRef

Wu, Q.M., Rodd, M.G.,
Boundary Feature Extraction and Structural Verification of Objects,
AMV Strategies921992, pp. 35-62. Generation of straight lines and curves from a contour for matching. BibRef 9200

Chen, M.H., and Chin, R.T.,
Partial Smoothing Splines for Noisy Boundaries with Corners,
PAMI(15), No. 11, November 1993, pp. 1208-1216.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9311

Worring, M., and Smeulders, A.W.M.,
Digital Curvature Estimation,
CVGIP(58), No. 3, November 1993, pp. 366-382.
WWW Version. BibRef 9311
Earlier:
The accuracy and precision of curvature estimation methods,
ICPR92(III:139-142).
WWW Version. 9208 BibRef

Worring, M., Smeulders, A.W.M.,
Digitized Circular Arcs: Characterization and Parameter-Estimation,
PAMI(17), No. 6, June 1995, pp. 587-598.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9506
Earlier:
Discrete circular arcs,
ICPR94(A:174-178).
WWW Version. 9410 BibRef

Fermüller, C.[Cornelia], and Kropatsch, W.G.[Walter G.],
A Syntactic Approach to Scale-Space-Based Corner Description,
PAMI(16), No. 7, July 1994, pp. 748-751.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9407
And:
Multiresolution Shape Description by Corners,
MDSG94(539-548). BibRef
Earlier: CVPR92(271-276).
IEEE Abstract. IEEE Top Reference. BibRef
Earlier:
Hierarchical curve representation,
ICPR92(III:143-146).
WWW Version. 9208 BibRef

Fairney, D.P., Fairney, P.T.,
On the Accuracy of Point Curvature Estimators in a Discrete Environment,
IVC(12), No. 5, June 1994, pp. 259-265.
WWW Version. Evaluation, Curvature. BibRef 9406

Tsang, W.M., Yuen, P.C., Lam, F.K.,
Detection of Dominant Points on an Object Boundary: A Discontinuity Approach,
IVC(12), No. 9, November 1994, pp. 547-557.
WWW Version. Use in matching: See also Robust Matching Process: A Dominant Point Approach. BibRef 9411

Zhu, P.F.[Peng-Fei], Chirlian, P.M.,
On Critical-Point Detection Of Digital Shapes,
PAMI(17), No. 8, August 1995, pp. 737-748.
IEEE Abstract. IEEE Top Reference.
WWW Version. Define a critical level to judge the importance of the contour point for defining the shape. Comparison with a number of other algorithms. BibRef 9508

Kankanhalli, M.S.,
An Adaptive Dominant Point Detection Algorithm for Digital Curves,
PRL(14), 1993, pp. 385-390. BibRef 9300

Espelid, R., Jonassen, I.,
A Comparison of Splitting Methods for the Identification of Corner-Points,
PRL(12), 1991, pp. 79-83. BibRef 9100

Illing, D.P., Fairney, P.T.,
Determining Perceptually Significant Points on Noisy Boundary Curves,
PRL(12), 1991, pp. 557-564. BibRef 9100

Canning, J., Kim, J.J., Netanyahu, N.S.[Nathan S.], Rosenfeld, A.,
Symbolic Pixel Labeling for Curvilinear Feature Detection,
PRL(8), 1988, pp. 299-310. BibRef 8800
Earlier: DARPA88(1080-1090). BibRef
Earlier: A1, A2, A4 Only: DARPA87(242-256). BibRef

Guiducci, A.,
Corner Characterization by Differential Geometry Techniques,
PRL(8), 1988, pp. 311-318. BibRef 8800

Cheng, K.H., Hsu, W.H.,
Parallel Algorithms for Corner Following on Digital Curves,
PRL(8), 1988, pp. 47-53. BibRef 8800

Teh, C.H., and Chin, R.T.,
On the Detection of Dominant Points on Digital Curve,
PAMI(11), No. 8, August 1989, pp. 859-872.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 8908
And:
A Scale-Independent Dominant Point Detection Algorithm,
CVPR88(229-234).
IEEE Abstract. IEEE Top Reference. Find the dominant points along curves. BibRef

Brault, J.J., and Plamondon, R.,
Segmenting Handwritten Signatures at Their Perceptually Important Points,
PAMI(15), No. 9, September 1993, pp. 953-957.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9309

Sohn, K., Alexander, W.E., Kim, J.H., Snyder, W.E.,
A Constrained Regularization Approach in Robust Corner Detection,
SMC(24), 1994, pp. 820-828. BibRef 9400

Sohn, K., Kim, J.H., Alexander, W.E.,
A Mean-Field Annealing Approach To Robust Corner Detection,
SMC-B(28), No. 1, February 1998, pp. 82-90.
IEEE Top Reference. 9802 BibRef

Held, A., Abe, K., Arcelli, C.,
Towards a Hierarchical Contour Description via Dominant Point Detection,
SMC(24), 1994, pp. 942-949. BibRef 9400

Wang, M.J.J., Wu, W.Y., Huang, L.K., Wang, D.M.,
Corner Detection Using Bending Value,
PRL(16), No. 6, June 1995, pp. 575-583. BibRef 9506

Wu, W.Y.[Wen-Yen],
Dominant point detection using adaptive bending value,
IVC(21), No. 6, June 2003, pp. 517-525.
WWW Version. 0306 BibRef

Oakley, J.P., Shann, R.T.,
Curvature Sensitive Filter and Its Application in Microfossil Image Characterization,
IVC(14), No. 3, April 1996, pp. 237-241.
WWW Version. 9607 BibRef

Cornic, P.,
Another Look at the Dominant Point Detection of Digital Curves,
PRL(18), No. 1, January 1997, pp. 13-25. 9704 BibRef

Yu, D.G.[Dong-Gang], Yan, H.,
An Efficient Algorithm for Smoothing, Linearization and Detection of Structural Feature Points of Binary Image Contours,
PR(30), No. 1, January 1997, pp. 57-69.
WWW Version. 9702 BibRef
Earlier:
An Efficient Algorithm for Smoothing Binary Image Contours,
ICPR96(II: 403-407).
WWW Version. 9608(Univ. of Sydney, AUS) BibRef

Ip, H.H.S., Wong, W.H.,
Fast Conditioning Algorithm for Significant Zero Curvature Detection,
VISP(144), No. 1, February 1997, pp. 23-30. 9706 BibRef

Fu, A.M.N., Yan, H.,
Effective Classification of Planar Shapes Based on Curve Segment Properties,
PRL(18), No. 1, January 1997, pp. 55-61. 9704 BibRef

Fu, A.M.N., Yan, H., Huang, K.,
A Curve Bend Function Based Method to Characterize Contour Shapes,
PR(30), No. 10, October 1997, pp. 1661-1671.
WWW Version. 9712 BibRef

Garrido, A., de la Blanca, N.P.[N. Perez], Garcia-Silvente, M.,
Boundary Simplification Using a Multiscale Dominant Point Detection Algorithm,
PR(31), No. 6, June 1998, pp. 791-804.
WWW Version. 9806 BibRef

Ji, Q.A.[Qi-Ang], Haralick, R.M.,
Breakpoint Detection Using Covariance Propagation,
PAMI(20), No. 8, August 1998, pp. 845-851.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9808
Earlier:
Corner Detection with Covariance Propagation,
CVPR97(362-367).
IEEE Abstract. IEEE Top Reference.
WWW Version. 9704Compare to Lowe: polygonal approx. for curves. BibRef

Parida, L.[Laxmi], Geiger, D.[Devi], Hummel, R.[Robert],
Junctions: Detection, Classification, and Reconstruction,
PAMI(20), No. 7, July 1998, pp. 687-698.
IEEE Abstract. IEEE Top Reference.
WWW Version. 9808 BibRef

Li, L.Y.[Li-Yuan], Chen, W.N.[Wei-Nan],
Corner Detection and Interpretation on Planar Curves Using Fuzzy Reasoning,
PAMI(21), No. 11, November 1999, pp. 1204-1210.
IEEE Abstract. IEEE Top Reference.
WWW Version. 9912Break points on the curves. BibRef

Cronin, T.M.[Terence M.],
A boundary concavity code to support dominant point detection,
PRL(20), No. 6. June 1999, pp. 617-634. BibRef 9906

West, G.A.W.[Geoff A. W.], Rosin, P.L.[Paul L.],
Investigation into the Extraction of Features from Images: From Curves to Features,
World Scientific1999, ISBN 981-02-3442-2. Fitting features to lines, 2D, 3D, etc. BibRef 9900

Simo, A., de Ves, E., Díaz, M.E., Ayala, G., Domingo, J.,
Bayesian estimation of edge orientations in junctions,
PRL(20), No. 11-13, November 1999, pp. 1113-1122. 0001 BibRef

Hill, A.[Andrew], Taylor, C.J.[Chris J.], Brett, A.D.[Alan D.],
A Framework for Automatic Landmark Identification Using a New Method of Nonrigid Correspondence,
PAMI(22), No. 3, March 2000, pp. 241-251.
IEEE Abstract. IEEE Top Reference.
WWW Version. 0005Critical points on curves to generate representations. BibRef

Brett, A.D., Hill, A., Taylor, C.J.,
A Method of 3D Surface Correspondence for Automated Landmark Generation,
BMVC97(xx-yy).
HTML Version. 0209 BibRef

Brett, A.D., Taylor, C.J.,
A Method of Automated Landmark Generation for Automated 3D PDM Construction,
IVC(18), No. 9, June 2000, pp. 739-748.
WWW Version. 0004 BibRef
Earlier: BMVC98(xx-yy). BibRef

Hill, A., and Taylor, C.J.,
A Method of Non-Rigid Correspondence for Automatic Landmark Identification,
BMVC96(Model Fitting, Matching, Recognition). 9608University of Manchester BibRef

Deschênes, F.[Francois], Ziou, D.[Djemel],
Detection of line junctions and line terminations using curvilinear features,
PRL(21), No. 6-7, June 2000, pp. 637-649. 0006 BibRef
Earlier:
Detection of Line Junctions in Gray-level Images,
ICPR00(Vol III: 754-757).
WWW Version.
HTML Version. 0009 BibRef

Beau, V.[Vincent], Singer, M.[Mark],
Reduced resolution and scale space for dominant feature detection in contours,
PR(34), No. 2, February 2001, pp. 287-297.
WWW Version. 0011 BibRef

Liu, W.Y.[Wen-Yu], Li, H.[Hua], Zhu, G.X.[Guang-Xi],
A fast algorithm for corner detection using the morphologic skeleton,
PRL(22), No. 8, June 2001, pp. 891-900.
HTML Version. 0105 BibRef

Han, J.H.[Joon H.], Poston, T.[Timothy],
Chord-to-Point Distance Accumulation and Planar Curvature: A New Approach to Discrete Curvature,
PRL(22), No. 10, August 2001, pp. 1133-1144.
HTML Version. 0108 BibRef

Han, J.H., Poston, T.,
Distance accumulation and planar curvature,
ICCV93(487-491).
WWW Version. 0403 BibRef

Kuhnert, K.D., Pechtel, D.,
Towards Creating Abstract Features of Complex Objects: The Fusion of Contourpoints in Significant Contour Sections for Object Recognition,
PRL(23), No. 6, April 2002, pp. 713-718.
HTML Version. 0202 BibRef
Earlier: A2, A1:
Automatic generation of significant and local feature groups of complex and deformed objects,
CIAP99(340-345).
WWW Version. 9909 BibRef

Neumann, R.[Richard], Teisseron, G.[Gilbert],
Extraction of dominant points by estimation of the contour fluctuations,
PR(35), No. 7, July 2002, pp. 1447-1462.
WWW Version. 0204 BibRef

da Fontoura Costa, L.[Luciano],
Estimating derivatives and curvature of open curves,
PR(35), No. 11, November 2002, pp. 2445-2451.
WWW Version. 0208 BibRef

Cazorla, M., Escolano, F., Gallardo, D., Rizo, R.,
Junction detection and grouping with probabilistic edge models and Bayesian A*,
PR(35), No. 9, September 2002, pp. 1869-1881.
WWW Version. 0206 BibRef

Craizer, M.[Marcos], Pesco, S.[Sinésio], Teixeira, R.[Ralph],
A Numerical Scheme for the Curvature Equation Near the Singularities,
JMIV(63), No. 1, June 2005, pp. 89-95.
WWW Version. 0501 BibRef

Craizer, M.[Marcos], Lewiner, T.[Thomas], Morvan, J.M.[Jean-Marie],
Combining Points and Tangents into Parabolic Polygons: An Affine Invariant Model for Plane Curves,
JMIV(29), No. 2-3, November 2007, pp. 131-140.
WWW Version. 0712 BibRef

Lavoue, G.[Guillaume], Dupont, F.[Florent], Baskurt, A.[Atilla],
A new subdivision based approach for piecewise smooth approximation of 3D polygonal curves,
PR(38), No. 8, August 2005, pp. 1139-1151.
WWW Version. 0505 See also Toward a near optimal quad/triangle subdivision surface fitting. BibRef

Shih, F.Y.[Frank Y.], Chuang, C.F.[Chao-Fa], Gaddipati, V.[Vijayalakshmi],
A modified regulated morphological corner detector,
PRL(26), No. 7, 15 May 2005, pp. 931-937.
WWW Version. 0506 BibRef

Laptev, I.[Ivan],
On Space-Time Interest Points,
IJCV(64), No. 2-3, September 2005, pp. 107-123.
WWW Version. 0510 BibRef

Laptev, I.[Ivan], Lindeberg, T.[Tony],
Interest Point Detection and Scale Selection in Space-Time,
ScaleSpace03(372-387).
HTML Version. 0310 BibRef

Carmona-Poyato, Á.[Ángel], Fernández-García, N.L.[Nicolás Luis], Medina-Carnicer, R.[Rafel], Madrid-Cuevas, F.J.[Francisco José],
Dominant point detection: A new proposal,
IVC(23), No. 13, 29 November 2005, pp. 1226-1236.
WWW Version. 0512 BibRef
Earlier:
A Method for Dominant Points Detection and Matching 2D Object Identification,
ICIAR04(I: 424-431).
WWW Version. 0409Search based corner detection. See also Automatic generation of consensus ground truth for the comparison of edge detection techniques. BibRef

Madrid-Cuevas, F.J.[Francisco José], Medina-Carnicer, R.[Rafel], Carmona-Poyato, Á.[Ángel], Fernández-García, N.L.[Nicolás Luis],
Dominant Points Detection Using Phase Congruence,
IbPRIA07(II: 138-145).
WWW Version. 0706 BibRef

Medina-Carnicer, R., Madrid-Cuevas, F.J.,
Unimodal thresholding for edge detection,
PR(41), No. 7, July 2008, pp. 2337-2346.
WWW Version. 0804Unimodal thresholding; Edge detection BibRef

Zhang, X.H.[Xiao-Hong], Lei, M.[Ming], Yang, D.[Dan], Wang, Y.[Yuzhu], Ma, L.T.[Li-Tao],
Multi-scale curvature product for robust image corner detection in curvature scale space,
PRL(28), No. 5, 1 April 2007, pp. 545-554.
WWW Version. 0703Curvature; CSS corner detection; Multi-scale product; CCN criteria; ACU accuracy BibRef

Zang, D.[Di], Sommer, G.[Gerald],
Signal modeling for two-dimensional image structures,
JVCIR(18), No. 1, February 2007, pp. 81-99.
WWW Version. 0711Monogenic curvature tensor; Generalized monogenic curvature signal; Phase; Signal modeling BibRef

Sinzinger, E.D.[Eric D.],
A model-based approach to junction detection using radial energy,
PR(41), No. 2, February 2008, pp. 494-505.
WWW Version. 0711Junction detection; Corner detection; Vertex detection; Feature analysis; Radial segmentation See also Radial segmentation. BibRef


Maire, M.[Michael], Arbelaez, P.[Pablo], Fowlkes, C.[Charless], Malik, J.[Jitendra],
Using contours to detect and localize junctions in natural images,
CVPR08(1-8).
WWW Version. 0806 BibRef

Lemuz-López, R.[Rafael], Estrada, M.A.[Miguel Arias],
Ranking Corner Points by the Angular Difference between Dominant Edges,
CVS08(xx-yy).
WWW Version. 0805 BibRef

Karousos, E.I., Ginnis, A.I., Kaklis, P.D.,
Controlling Torsion Sign,
GMP08(xx-yy).
WWW Version. 0804 BibRef

Sánchez-Cruz, H.[Hermilo],
Corner Detection by Searching Two Class Pattern Substrings,
CIARP06(354-362).
WWW Version. 0611 BibRef

Arseneau, S.[Shawn], Cooperstock, J.R.[Jeremy R.],
An Improved Representation of Junctions Through Asymmetric Tensor Diffusion,
ISVC06(I: 363-372).
WWW Version. 0611 BibRef
And:
An Asymmetrical Diffusion Framework for Junction Analysis,
BMVC06(II:689).
PDF Version. 0609 BibRef

Sánchez-Cruz, H.[Hermilo],
A Proposal Method for Corner Detection with an Orthogonal Three-Direction Chain Code,
ACIVS06(161-172).
WWW Version. 0609 BibRef

Chetverikov, D.[Dmitry],
A Simple and Efficient Algorithm for Detection of High Curvature Points in Planar Curves,
CAIP03(746-753).
WWW Version. 0311 BibRef

Koo, W.M.[Wai Mun], Kot, A.C.[Alex Chichung],
Curvature-Based Singular Points Detection,
AVBPA01(229).
HTML Version. 0310 BibRef

Lindeberg, T.,
Junction Detection with Automatic Selection of Detection Scales and Localization Scales,
ICIP94(I: 924-928).
WWW Version. Junction location by normalized derivatives using sclae-space techniques. Abstract:
HTML Version. Full paper:
Postscript Version. For edge detection: See also Edge Detection and Ridge Detection with Automatic Scale Selection. See also Feature Tracking with Automatic Selection of Spatial Scales. BibRef 9400

Hansen, T.[Thorsten], Neumann, H.[Heiko],
A Biologically Motivated Scheme for Robust Junction Detection,
BMCV02(16 ff.).
HTML Version. 0303 BibRef

Barsi, A.[Arpad], Heipke, C.[Christian], Willrich, F.[Felicitas],
Junction Extraction by Artificial Neural Network System - JEANS,
PCV02(B: 18). 0305 BibRef

Sluzek, A.[Andrzej],
A Local Algorithm for Real-Time Junction Detection in Contour Images,
CAIP01(465 ff.).
HTML Version. 0210 BibRef

Coeurjolly, D.[David], Miguet, S.[Serge], Tougne, L.[Laure],
Discrete Curvature Based on Osculating Circle Estimation,
VF01(303 ff.).
HTML Version. 0209Extendes See also Digital Curvature Estimation. BibRef

Nandy, D., Ben-Arie, J.,
EXM eigen templates for detecting and classifying arbitrary junctions,
ICIP98(I: 211-215).
WWW Version. 9810 BibRef

Caselles, V.[Vicent], Coll, B.[Bartomeu], Morel, J.M.[Jean-Michel],
Junction Detection and Filtering: A Morphological Approach,
ICIP96(I: 493-496).
WWW Version. BibRef 9600

Kadonaga, T., Abe, K.,
Comparison of Methods for Detecting Corner Points from Digital Curves,
GRMA951996, pp. 23-34. BibRef 9600

Neumann, H., Ottenberg, K.[Karsten],
Estimating attributes of smooth signal transitions from scale-space,
ICPR92(III:754-758).
WWW Version. 9208 BibRef

Dolan, J., and Riseman, E.M.,
Computing Curvilinear Structure by Token-Based Grouping,
CVPR92(264-270).
IEEE Abstract. IEEE Top Reference. BibRef 9200

Dolan, J., and Weiss, R.,
Perceptual Grouping of Curved Lines,
DARPA89(1135-1145). Using proximity and good continuation to get co-curving lines. This operates over a range of scales. Initial results for straight and simple curves. BibRef 8900

Lee, C.K., Haralick, R.M., Deguchi, K.,
Estimation of curvature from sampled noisy data,
CVPR93(536-541).
IEEE Abstract. IEEE Top Reference. 0403 BibRef

Bårman, H.[Håkan],
Hierarchical Curvature Estimation in Computer Vision,
Ph.D.Thesis, Linkoping University, September, 1991.
HTML Version. BibRef 9109

Deguchi, K.,
Multi-Scale Curvatures for Contour Feature Extraction,
ICPR88(II: 1113-1115).
WWW Version.
IEEE Top Reference. BibRef 8800

Aviad, Z.,
Locating Corners in Noisy Curves by Delineating Imperfect Sequences,
CMU-CS-TR--88-199, December 1988. BibRef 8812

Chapter on Detection and Analysis of Edges, Lines, Curves, Corners, Hough Transform continues in
Corner Feature Detection Techniques and Use .


Last update:Aug 27, 2008 at 19:16:50