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Also, since FAST does not yield multi-scale features and is not scale invariant, a scale pyramid of the imaged is employed and for each pyramid level, the FAST features are determined [9].
According to the paper on "ORB: an efficient alternative to SIFT and SURF", Rublee et al. [9] proposed a feature ORB which built on the well-liked keypoint detector algorithm, FAST (features from accelerated segment test), and recently developed BRIEF descriptor.
Among the most popular points of interest (POI) detectors are corner detectors Harris, Shi-Tomasi and FAST (Features from accelerated segment test) [9 11] and blob detectors Scale-invariant feature transform (SIFT) [12] and Speeded Up Robust Features (SURF) [13], to name a few.
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