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This book describes a curvature-based corner detector that detects both fine and coarse features accurately at low computational cost. First, it extracts contours from a Canny edge map. Second, it computes the absolute value of curvature of each point on a contour at a low scale and regards local maxima of absolute curvature as initial corner candidates. Third, it uses an adaptive curvature threshold to remove round corners from the initial list. Finally, false corners due to quantization noise and trivial details are eliminated by evaluating the angles of corner candidates in a dynamic...