First, calculate the value of each pixel of interest, that is the center of the pixel, take a w × w (eg: 5 × 5) square window, computing 0 degrees, 45 degrees, 90 degrees, 135 degrees in four directions gray squares difference, whichever is the minimum value as the value of the pixel of interest. Secondly, based on the actual images to set a threshold value of traversing the image in order to interest more than the threshold point for the candidate point. Finally, the selection of a certain size of the window, so that the window traversal gray image, taken in the process window, the candidate interested in the value of the maximum points for the feature points, the algorithm end.

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