The process of locating feature points of surf algorithm is the same as that of SIFT algorithm, which is to compare every pixel processed by Hessian matrix (i.e. to obtain Hessian matrix discriminant value of every pixel) with all neighboring points between its image domain (image of the same size) and its scale domain (adjacent scale space) When it is larger (or smaller) than all the adjacent points, this point is the extreme point. As shown in the figure below, the middle detection point is to be compared with 8 pixel points in the 3 × 3 neighborhood of the image where it is located, and 18 pixel points in the 3 × 3 neighborhood of the upper and lower layers adjacent to it, a total of 26 pixel points. After the feature points are located for the first time, the key points with weak energy and wrong location can be filtered through filtering, so that the final stable feature points can be filtered out<br>
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