| 1. Feature detection |
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| • | Discard
low-contrast/edge points |
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| 1) | Low contrast:
discard keypoints with < |
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| threshold |
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| 2) | Edge points:
high contrast in one direction, low |
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| in the other compute
principal curvatures from |
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| eigenvalues of
2x2 Hessian matrix, and limit ratio |
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