A Target Corner Detection Algorithm Based on the Fusion of FAST and Harris

Table 6

Performance comparison of nine detection methods in running time (s).

Method	Image
	Construction	Airplane	Train	Instrument	Bridge	Fruit	Wall	Car	Block	Checkerboard	House	Average value
Harris [18]	23.17	23.23	26.90	37.68	23.15	44.94	23.12	27.62	10.89	10.72	10.93	23.85
Shi-Tomasi [26]	0.07	0.07	0.05	0.07	0.07	0.08	0.06	0.06	0.03	0.03	0.02	0.06
Subpixel level [32]	0.07	0.06	0.04	0.02	0.03	0.03	0.03	0.02	0.01	0.01	0.01	0.03
SIFT [29]	0.13	0.18	0.10	0.13	0.11	0.14	0.10	0.10	0.04	0.03	0.04	0.10
SURF [30]	0.08	0.09	0.07	0.10	0.09	0.09	0.09	0.08	0.03	0.04	0.04	0.07
AKAZE [31]	0.03	0.03	0.03	0.04	0.03	0.05	0.03	0.03	0.02	0.02	0.02	0.03
FAST [33]	0.03	0.03	0.03	0.01	0.02	0.01	0.01	0.01	0.01	0.01	0.01	0.02
ORB [34]	0.86	0.89	0.88	0.93	0.84	0.91	0.91	0.83	0.14	0.14	0.14	0.68
F–H	21.19	21.29	24.18	31.66	16.56	36.42	16.18	25.67	10.32	9.71	10.36	20.32

Bold shows that nine algorithms correspond to the minimum running time of 10 different scenarios.