Fig. 1. Schematic of neighborhood scatter

Fig. 2. Distribution of feature point via different algrithms. (a) ALOI picture group; (b) FAST; (c) C-FAST

Fig. 3. Images from Mikolajczyk

Fig. 4. Results of feature matching. (a) C-FAST++, --; (b) FAST++, --; (c) CSIFT++, --; (d) SURF++, --(+ represents clockwise rotation or scale magnification, - represents counterclockwise rotation and scale reduction.)

Fig. 5. Light intensity picture group

Fig. 6. Comparison of illumination invariance

Fig. 7. Noise performance analysis. C-FAST algorithm in (a) impulse noise environment and (b) Gaussian noise environment; FAST algorithm in (c) impulse noise environment and (d) Gaussian noise environment; CSIFT algorithm in (e) impulse noise environment and (f) Gaussian noise environment; SURF algorithm in (g) impulse noise environment and (h) Gaussian noise environment

Fig. 8. Operation results in the natural light environment. (a) C-FAST; (b) FAST; (c) CSIFT; (d) SURF

Fig. 9. Algorithm matching logarithm

Fig. 10. Average time consuming of procedure

Table 1. Parameter comparison of different algorithms