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. 2022 Nov 25;22(23):9168. doi: 10.3390/s22239168

Algorithm 3: FALKO-Based Corner Detection.

CORNER DETECTION
falko_ $I_{p}$ $(s c o r e_{t h})$ // $s c o r e_{t h}$ FALKO score threshold
for each datapoint $d_{i}$ using its neighbors in scan S do
if $c a r d i n a l i t y \geq 2$ then
potential_candidate ← $d_{q}$
end if
end for
for each potential candidate $d_{c}$ with its neighbors in scan S do
compute_corner_score $()$
if $c o r n e r_s c o r e \geq s c o r e_{t h}$ then
$I_{p} \leftarrow d_{q}$
end if
$I \leftarrow N o n_M a x i m a_S u p p r e s s i o n (I_{p})$
returnI // returns I set of interest points
end for