Patent Document ID: 9858500
Application ID: 15381463
Patent Status: 1

Claim One:
1. A computer-implemented method, comprising: identifying a candidate corner feature in a first image, the candidate corner feature including a set of pixels from the first image; determining a center pixel from the set of pixels; selecting, from the set of pixels, a subset of pixels, individual pixels from the subset of pixels being at a respective distance from the center pixel; generating a downscaled set of pixels from the set of pixels, the downscaled set of pixels representing an outer layer of pixels and the subset of pixels representing an inner layer of pixels, the outer layer of pixels having a greater radius than the inner layer of pixels; determining a first derivative value and a second derivative value based at least in part on intensities values of pixels of the outer layer of pixels; shifting values of the subset of pixels based at least in part on an orientation angle determined using the first derivative value and the second derivative value; comparing a characteristic of the center pixel to corresponding characteristics of at least a pair of pixels from the inner layer of pixels; and determining whether the candidate corner feature includes a corner feature of the first image based at least in part on the characteristics of the pair of pixels being within a threshold value of the characteristic of the center pixel.