Patent ID: 9747515
Date: 2017-08-29
CPC Classifications: G06K,G06T

Claim:
1. A method for selecting feature points within an image, comprising: identifying a plurality of candidate feature points in the image; selecting, for each of the plurality of candidate feature points, a group of pixels around a pixel associated with the candidate feature point, the group of pixels forming a Bresenham circle having a radius of at least two; selecting, for each of the plurality of candidate feature points, a plurality of sets of representative pixels from the group of pixels, each of the sets of representative pixels being selected as a respective set of N contiguous pixels along the Bresenham circle, where N is an integer greater than two, such that the sets of representative pixels represent multiple possible combinations of N contiguous pixels in the Bresenham circle; determining, for each set of representative pixels, a representative value as one of a maximum chromaticity value and a minimum chromaticity value from the set of representative pixels; determining a score for each candidate feature point from the representative values for the plurality of sets of representative pixels associated with the candidate feature point; and selecting the feature points according to the determined scores for the plurality of candidate feature points.