Journal of Guangxi Normal University(Natural Science Edition) ›› 2018, Vol. 36 ›› Issue (1): 44-52.doi: 10.16088/j.issn.1001-6600.2018.01.006

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An Improved Fast SUSAN Chessboard Corner Detection Algorithm

XIA Haiying,LIU Weitao,ZHU Yongjian*   

  1. College of Electronic Engineering,Guangxi Normal University,Guilin Guangxi 541004,China
  • Received:2017-07-23 Online:2018-01-20 Published:2018-07-17

Abstract: Since the traditional SUSAN corner detection algorithm can not distinguish inner corners and to solve the edge corners of chessboard,and to solve the problem of corner separation caused by excessive exposure,the improved SUSAN corner detection algorithm is proposed.The improved algorithm can obtain the difference of 3 pixels gray sum between two groups of nonadjacent characteristic directions,combining the threshold and difference threshold to extract the corner set. Moreover,using the symmetric distribution of the corner set to determine the centroid coordinates of the corner set as the coordinates of the corner of the position, and the coordinate values can be directly sub-pixel accuracy.Experiments show that the proposed algorithm can extract corners effectively and quickly,and the reprojection error is within 0.3 pixels. The extraction results can be used for camera calibration.

Key words: corner detection, chessboard, camera calibration, sub-pixel;SUSAN

CLC Number: 

  • TP391
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