Algorithm 1 Pseudo code—Multiscale AGAST (MAGAST) Detection.

1: BEGIN

2: Input image, Lower Bound and Upper Bound.

3: Set Left = 0, Right = 255, Threshold = 128, Score = 256;

4: WHILE (Score < Lower Bound || Score > Upper Bound)

5: Score = use Threshold to Detect AGAST features on image

6: IF (Lower Bound > Score)

7:  Right = Threshold

8:  Threshold = (Threshold + Left) >>1

9:  IF (Right == Threshold)

10: END WHILE

11:  END IF

12: ELSE

13:  Left = Threshold

14:  Threshold = (Threshold + Right) >>1

15:  IF (Left == Threshold)

16:   END WHILE

17:   END IF

18: END