Early jump-out corner detectors
J. Cooper, Svetha Venkatesh, Les Kitchen · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1993
The authors present two new corner detectors. One works by using dissimilarity, along the contour direction to detect curves in the image contour, and the other estimates image curvature along the contour direction. These operators are fast, robust to noise, and require no subjective thresholding.>