Abstract. The paper gives a snapshot of the state of the art in affine covariant region detectors, and compares their performance on a set of test images under varying imaging conditions. Six types of detectors are included: detectors based on affine normalization around Harris (Mikolajczyk and Schmid, 2002; Schaffalitzky and Zisserman, 2002) and Hessian points (Mikolajczyk and Schmid, 2002) , a detector of 'maximally stable extremal regions', proposed by Matas et al. (2002) ; an edge-based region detector and a detector based on intensity extrema (Tuytelaars and Van Gool, 2000) , and a detector of 'salient regions', 44 proposed by Kadir, Zisserman and Brady (2004) . The performance is measured against changes in viewpoint, scale, illumination, defocus and image compression. The objective of this paper is also to establish a reference test set of images and performance software, so that future detectors can be evaluated in the same framework.
Additional interest point and region detectors are described in REF .
A Comparison of Affine Region Detectors
International Journal of Computer Vision
International Journal of Computer Vision
Computer Science Mathematics