From SURF to FAST
I did some research on the SURF optimization. While it still possible to make it significantly faster with lazy evaluation, the problem of the scale remain. Fine-scale features are not detectedable on the bigger scale, so it doesn’t look like there is an easy way to reduce search area using only upper scale. If scale-space is not helping to reduce search area it become liability for mobile tracking – range can’t change too fast for a mobile pone, so scale of the feature will be about the same between frames.
Will try plain, not scale-space corner detectors now, starting with FAST.
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