This paper presents a novel method to extract local features, which instead of calculating local extrema computes global maxima in a discretized scale-space representation. To avoid interpolating scales on few data points and to achieve perfect rotation invariance, two essential techniques, increasing the width of kernels in pixel and utilizing disk-shaped convolution templates, are adopted in this method. Since the size of a convolution template is finite and finite templates can introduce computational error into convolution, we sufficiently discuss this problem and work out an upper bound of the computational error. The upper bound is utilized in the method to ensure that all features obtained are computed under a given tolerance. Besides, the technique of relative threshold to determine features is adopted to reinforce the robustness for the scene of changing illumination. Simulations show that this new method attains high performance of repeatability in various situations including scale change, rotation, blur, JPEG compression, illumination change, and even viewpoint change.
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