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Table 1

Advantages and disadvantages of feature point detection algorithms.

Feature point detection algorithm References Advantages Disadvantages
Harris Moravec [51], Harris and Stephens [52], Harris [53] Rotational invariance, luminance invariance Lack of scale invariant properties and affine invariance properties
SIFT Lowe [54, 57], Brown and Lowe [56], Cruz-Mota et al. [61], Al-khafaji et al. [63], Li and Yuan [64] Rotational invariance, scale invariance, luminance invariance, good robustness The calculated dimension is too large and the operation speed is slow
Harris-Laplacian Mikolajczyk and Schmid [55] Rotational invariance, scale invariance Redundancy point, anti-interference ability is not strong, real-time performance is poor
SURF Bay et al. [58] Compared with SIFT, the calculation is smaller and the speed is faster, Rotational invariance, scale invariance, good robustness The computational speed is an order of magnitude faster than SIFT and an order of magnitude slower than ORB
FAST Rosten and Drummond [59] Fast operation speed Easy to be affected by noise, poor robustness, Lack of rotation invariance
ORB Rublee et al. [60] Fast operation speed, Rotational invariance Lack of scale invariant properties

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