Morphological Corner Detection. Application to Camera Calibration

In this paper we study the application of the Affine Morphological Scale Space (AMSS) to corner detection with subpixel precision. Corner detection techniques are in general very sensitive to noise, so some kind of filtering is usually needed to remove noise before estimating the corner location, however, the filtering procedure changes the location of the corner, so the filtering introduce errors in the corner location. If we use the AMSS scale space as filtering, we can solve this problem because following the evolution of the maxima of the curvature across the scales we can recover the original location of the corners with subpixel precision. We apply this technique of corner detection to calibrate a camera system using a calibration object.