LABORATORIUM PSIKOLOGI LANJUT

LAPORAN PRAKTIKUM PSIKOLOGI KOGNITIF

(FEATURE DETECTION)

DISUSUN OLEH :

Nama : Indira Yasmine

NPM : 13518316

Kelas : 3PA11

Tutor : Fithricia Ekayuni Poerwanty

FAKULTAS PSIKOLOGI

UNIVERSITAS GUNADARMA

2021
I. TUJUAN

Praktikum ini dilakukan dengan tujuan agar dapat mendeteksi adanya fitu-
fitur dalam suatu stimulus diantara stimulus-stimulus lainnya.

II. POINT OF VIEW

Praktikum ini dilakukan dengan tujuan agar praktikan dapat dengan

mudah memahami materi feature detection dan praktikan diajarkan menggunakan
stimulus untuk mendeteksi target.

III. TEORI

A. Landasan Teori

Menurut Goldstein(2008) feature detection adalah neuron yang merespon

pada fitur-fitur spesifik yang dianalisis dari orientasi,ukuran dan seberapa
kompleks fitur tersebut.

Menurut Solso,Maclin,&Maclin(2016) feature detection adalah sebuah

pendekatan terhadap masalah bagaimana kita menyaring informasi dari stimulus.
Pengenalan objek merupakan pemrosesan informasi tingkat tinggi yang didahului
dengan pengidentifikasian oleh stimulus kompleks yang masuk ke retina sesuai
dengan fitur-fitur yang lebih sederhana.

Sedangkan menurut Freidenberg dan Silverman(2006) hal yang paling

dikenal dalam teori feature detection adalah pandemonium. Kata ini diambil dari
nama kecil “demons” yang mewakili pemrosesan suatu unit. ”Demons” ini akan
“berteriak” ketika merekognisi prosesnya, misalnya sebagai contoh huruf R.
Stimulus atau huruf R, diwakili sebagai image demons yang mempertahankan
keseluruhan dari huruf tersebut. Kemudian ada satu feature demons untuk setiap
kemungkinan ciri stimulus. Feature demons berteriak jika melihat cirinya di suatu
gambaran. Huruf R mempunyai satu garis tegak lurus dan satu lingkaran
menghadap ke kanan di bagian atas, jadi huruf R mempunyai 2 feature demons.
Tahap selanjutnya yaitu cognitive demons. Jika para demons mengetahui ada
yang sesuai dengan ciri dari huruf R, maka para demons akan berteriak dan
cognitive demons akan berteriak paling keras. Dan yang terakhir yaitu decision
demons. Decision demons akan mendengarkan teriakan paling keras dari
cognitive. Jenis – jenis Demon yaitu :

1. Image Demon Memiliki tugas yang paling sederhana, yaitu mencatat

gambaran atau citra (image) sinyal eksternal.

2. Feature Demon Bertugas menganalisa. Masing-masing demon melihat

ciri-ciri khusus pada pola, yaitu adanya garis-garis tertentu (misalnya:
sudut, garis vertikal, garis horizontal, kurva).

3. Cognitive Demon Bertugas mengamati respon-respon dari feature

demon,bertanggung jawab mengenali pola. Setiap cognitive demon
digunakan untuk mengenali satu pola

Menurut beberapa tokoh diatas,dapat disimpulkan bahwa rangsangan

visual merupakan proses pengenalan feature detection dan memiliki beberapa
fitur-fitur untuk memahami pola informasi visual.

B. Jurnal Terkait
Judul : Feature Detection and Description in Remote Sensing Images
using a Hybrid feature Detector

Penulis : Anchal Kumawat,Sucheta Panda

Volume : 132

Tahun : 2018

Rangkuman Jurnal :

Jurnal ini berhubungan dengan teori yaitu dalam hal mendeteksi fitur-fitur
registrasi pada gambar. Pada jurnal ini menggunakan hybrid dan algoritma untuk
menentukan fitur-fitur gambar. Didalam jurnal ini juga menyebutkan fitur untuk
mendeteksi literatur seperti BRISK,FAST,SURF. Algoritma dan hybrid itu sendiri
saat ini telah diterapkan pada berbagai penginderaan dan dapat memberikan hasil
yang dapat disimpulkan.

IV. PELAKSANAAN DAN HASIL PERCOBAAN

A. Langkah-langkah

1. Nyalakan perangkat komputer atau laptop anda

2. Buka halaman website dengan mengetik

http://cogscidemos.swarthmore.edu/

3. Setelah muncul halaman beranda,pada sisi kiri web pilih menu

vision search pada menu experiment

4. Bacalah dengan teliti instruksi yang tertera pada laman vision

search

5. Setelah memahami instruksi,klik tombol try it

6. Pada menu parameter,klik “full experiment” kemudian isilah :

a. Jumlah distractor : 2

b. Distractor 1 : Q

c. Distractor 2 : B

d. Target : P

7. Kemudian klik start experiment

8. Instruksi pengerjaan:

a. Tekan tombol spasi untuk ke persoalan selanjutnya

b. Tekan tombol keyboard “F” apabila melihat target (huruf

P) diantara disstraktor (huruf Q dan B)

c. Tekan tombol keyboard “J” apabila tidak melihat target

 9. Setelah menyelesaikan percobaan,akan muncul tampilan tabel
result,lalu klik print screen untuk mengcapture hasil dan bagian
tabel.

B. Hasil
Berdasarkan praktikum feature detection hari Senin,5 Maret 2021
berikut hasil yang didapatkan pada saat praktikum berlangsung :
C. Pembahasan
Didalam percobaan praktikum terdapat target yang disimbolkan
dengan huruf “P” dengan demikian kita menjadi terstimulus dan akan
terpaku untuk mencari huruf tersebut diantara pengecoh lainnya.Hal itu
terjadi karena stimulus huruf telah masuk melewati retina sehingga kita
dapat dengan mudah membedakannya. Lalu saat itu juga feature demon
menentukan pola apa yang akan kita lihat dan pilih. Ketika menentukan
pola dan fitur gambar dapat pula menggunakan algortima dan hybrid
sehingga dapat memudahkan prakitkan untuk menyimpulkan gambar dan
pola yang terdapat didalam percobaan.

V. KESIMPULAN
Didalam praktikum ini,prakitkan mendapat materi mengenai
feature detection sehingga dapat memudahkan praktikan untuk melakukan
percobaan praktikum. Setelah melakukan percobaan praktikum dan
mendapat hasil dapat disimpulkan jika praktikan dapat menanggapi dengan
baik stimulus yang muncul dan dapat menjawab persoalan percobaan
dengan mudah.

Daftar Pustaka

Goldstein, E., B. (2008), Cognitive psychology: connecting mind, research, and

everyday experience. Second edition. USA: Wadsworth Publishing.

Solso, R. L., Maclin, O. H., Maclin, M. K. (2016). Psikologi kognitif. Edisi

kedelapan. Jakarta: Erlangga.

Freidenberg, F. & Silverman, G. (2006). Cognitive science: A student’s

handbook. Fifth edition. New York: Psychology Press.
 Available online at www.sciencedirect.com
Available online at www.sciencedirect.com
Available online at www.sciencedirect.com

ScienceDirect
Procedia
Procedia
Procedia Computer
Computer Science
Science
Computer 13200
Science (2018)
(2018)
00 000–000
277–287
(2018) 000–000
www.elsevier.com/locate/procedia
www.elsevier.com/locate/procedia

International
International Conference
Conference on
on Computational
Computational Intelligence
Intelligence and
and Data
Data Science
Science (ICCIDS
(ICCIDS 2018)
2018)
Feature Detection and Description in Remote Sensing Images using
a Hybrid Feature Detector
a b
Anchal
Anchal Kumawat
Kumawata ,, Sucheta
Sucheta Panda
Pandab
a Department of
a Department of Computer
Computer Applications,
Applications, Veer
Veer Surendra
Surendra Sai
Sai University
University of
of Technology
Technology (VSSUT),
(VSSUT), Burla,
Burla, Sambalpur,
Sambalpur, Odisha,
Odisha, India.,
India.,
b Department of
b Department of Computer Applications, Veer Surendra Sai University of Technology (VSSUT), Burla, Sambalpur, Odisha,
Computer Applications, Veer Surendra Sai University of Technology (VSSUT), Burla, Sambalpur, Odisha, India.,
India.,

Abstract
Abstract
Feature
Feature detection
detection plays
plays aa crucial
crucial role
role inin image
image registration.
registration. There
There exists
exists quite
quite aa few
few feature
feature detection
detection algorithms
algorithms in in literature
literature like
like
BRISK,
BRISK, FAST, SURF etc [14]. Each of these algorithms has its own advantages and disadvantages. BRISK is rotation and
FAST, SURF etc [14]. Each of these algorithms has its own advantages and disadvantages. BRISK is rotation and scale
scale
invariant, but
invariant, but it
it takes
takes more
more time
time to
to detect
detect the
the feature
feature points.
points. On
On thethe other
other hand
hand FAST,
FAST, as as the
the name
name suggests,
suggests, takes
takes less
less time
time to to detect
detect
the
the key
key points,
points, but
but it
it is
is not
not scale
scale invariant.
invariant. To To overcome
overcome the
the demerits
demerits ofof BRISK
BRISK andand FAST
FAST feature
feature detection
detection algorithms,
algorithms, this this paper
paper
proposes
proposes aa hybrid
hybrid feature
feature detection
detection algorithm,
algorithm, which
which consumes
consumes lessless time
time to
to detect
detect the
the feature
feature key
key points
points and
and it
it is
is also
also rotation
rotation and
and
scale invariant.
scale invariant. This
This paper
paper also
also focus
focus on on aa comparative
comparative analysis
analysis of of BRISK,
BRISK, FAST
FAST and and proposed
proposed algorithm
algorithm in
in terms
terms of of time
time to to detect
detect
feature
feature points.
points. This
This paper
paper hashas taken
taken five
five feature
feature key
key points
points in
in every
every Remote-sensing
Remote-sensing imagesimages and
and also
also deals
deals with
with feature
feature detection
detection
using
using the above three algorithms. It can be observed from the results and tables that in case of hybrid feature detector, it
the above three algorithms. It can be observed from the results and tables that in case of hybrid feature detector, it takes
takes less
less
time to
time to detect
detect five
five feature
feature points.
points.
© 2018 The Authors. Published by Elsevier Ltd.
cc 2018

 2018 The
This
The Authors.
Authors. Published
is an open
Published by
by Elsevier
access article under
Elsevier B.V.
B.V.
the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/3.0/)
Peer-review under responsibility of the scientific committee of
Peer-review under responsibility of the scientific committee of the
the International
International Conference
Conference on
on Computational
Computational Intelligence
Intelligence and
and
Data Science (ICCIDS 2018).
Data Science (ICCIDS 2018).
Keywords: Image
Keywords: Image Registration;
Registration; Feature
Feature Detection;
Detection; Feature
Feature Description;
Description; BRISK
BRISK Feature
Feature Detector;
Detector; FAST
FAST Feature
Feature Detector
Detector

1.
1. Introduction
Introduction

Image
Image registration
registration is
is one
one ofof the
the most
most important
important technique
technique of of image
image processing.
processing. It
It is
is the
the process
process of
of overlying
overlying two
two
or
or more images of the same scene or it can be said like this, it is the process of transforming different sets of
more images of the same scene or it can be said like this, it is the process of transforming different sets of data
data into
into
one
one coordinate
coordinate system.
system. Basically
Basically itit is
is also
also known
known asas Image
Image Alignment.
Alignment. TheThe concept
concept ofof image
image registration
registration can
can be
be used
used
in
in several applications like Remote sensing, Medical images, Computer Vision and Cartography [1][2]. In case
several applications like Remote sensing, Medical images, Computer Vision and Cartography [1][2]. In case of
of
Remote
Remote sensing,
sensing, itit can
can be
be used
used in
in many
many fields
fields like
like Change
Change detection,
detection, Image
Image mosaicing,
mosaicing, Enviornment
Enviornment monitoring
monitoring and
and
Weather
Weather forecasting.
forecasting. The
The term
term Change
Change detection
detection can
can be
be referred
referred toto as
as detecting
detecting changes
changes inin land,
land, cover
cover of
of land,
land, coastal
coastal

∗ Anchal
∗ Anchal kumawat.
kumawat. Tel.: +919462131052 ..
Tel.: +919462131052
E-mail
E-mail address:
address: anchal.kumawat@gmail.com
anchal.kumawat@gmail.com

1877-0509 © 2018 The

TheAuthors.
Authors. Published by Elsevier
B.V.Ltd.
1877-0509 
1877-0509
This
cc 2018
is an open
2018 The article
access Authors. Published
Published
under the CC
by Elsevier
by Elsevier
BY-NC-ND B.V.
license (https://creativecommons.org/licenses/by-nc-nd/3.0/)
Peer-review under
Peer-review under responsibility of the scientific committee of the
the International
International Conference on
on Computational
Computational Intelligence
Intelligence and
and Data
Data Science
Peer-review under responsibility
responsibility of the
the scientific
scientific committee
committee ofof the International Conference on Computational and Data Science
(ICCIDS
(ICCIDS 2018).
2018).
(ICCIDS 2018).
10.1016/j.procs.2018.05.176
278 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287
2 Author name / Procedia Computer Science 00 (2018) 000–000

change, urban areas and other changes in temporal and spatial analysis techniques like GIS and Remote sensing.
It is the most useful task of remote sensing image analysis. The term Image mosaicing can be referred to as the
process of producing the combined image from two or more images having siginificant overlap, which will help to
reduce the size of data set. The data which is to be used for image registration can be acquired from different times,
different viewpoints or by different sensors [1][2]. The main goal of acquiring these data in different times is to find,
evaluate and analyze changes and these changes are helpful in many application areas. For example, in remote sensing
applications, from time to time land areas may vary i.e. sometimes the areas may be planted and after some time the
same area may be constructed with the new buildings. In Medical analysis the doctors have to monitor the changes in
the various medical images. For example, for the treatment of a cancer patient a doctor has to monitor the growth of
the cancer cells from time to time [3].
The method of image registration can be divided into two types. First one is known as Area Based Image Reg-
istration and second one is Feature Based Image Registration [2][3]. Area Based Image Registration is useful for
providing the information about pixel intensity, where as Feature based Image Registration is beneficial for extracting
the useful features from an image like Regions, Points and Corners etc. [4]. It Consist four steps [1]. These are Feature
Detection, Feature Matching, Transform Model Estimation, Image Resampling and Transformation. In the process of
Feature Detection, features can be detected from an image like closed-boundary regions, edges, contours, line inter-
sections, corners, etc. from both targeted and sensed images. In Feature Matching process, it is the checking that the
pixels from one image corresponds to the pixels from another image or not. If there is correspondence then matching
is established. In the process of Transform Model Estimation, mapping function is introduced where types and pa-
rameters are known as mapping functions. Estimate the overlying sensed images with the reference images. In Image
Resampling and Transformation, the sensed image is transformed by the process of transform model estimation[6].
In image processing and computer vision, feature is a part of information which is used for solving the computation
task. Feature of an image can be selected either manually or by an algorithm without any human interventions [5]. For
feature detection a large number of feature detectors algorithm have been developed such as SURF (Speed Up Robust
Feature), SIFT (Scale Invariant Feature Transform), FAST (Features accelerated from Segment Test), BRISK (Binary
Robust Invariant Scalable Key points), Harris, MinEigen and MSER (Maximally Stable Extremal Region) [14].
The present paper deals with two feature detector algorithm these are BRISK and FAST. BRISK is useful for
performing both feature detection and description, whereas FAST is used for detecting the corner feature point. The
main aim of this paper is to present a combined approach of BRISK and FAST to detect the feature keypoints, that
will produce the best results in terms of consuming less time by using various types of transformations like rotation
and scaling. Using various rotation angles in every image and then applying BRISK feature detector, it takes more
time to detect the feature key points. If FAST is applied to the same image and same rotation angles, it takes less time
compared to BRISK. While using the combined approach, feature detection time furhter reduces. This reduction of
time will help in the feature detection in Real Time applications, which can be applied to remote sensing as well as
medical images. This algorithm has been tested with various remote sensing images, but for the sake of clarity only
five images are presented in this paper. Time complexity of the above three algorithms have been compared in tabular
form.
This paper is organised as follows : section 2 provides Related work, section 3 deals with Proposed algorithm, for
detecting feature key points, Section 4 consist of Simulation and Results, Section 5 offers Conclusion and section 6
provides Future work.

2. Related work

In computer vision and image processing literature, a feature refers to a piece of information, which can be utilized
for saving the computational work related to a specific application. With reference to image, features may refer to
points, edges or objects. Feature detection is a low level image processing operation. In many computer vision al-
gorithms feature detection is used as the initial step, therefore, a very large number of feature detection algorithms
are developed by many researchers. A SAR Image Registeration algorithm based on the multiscale FAST feature de-
tection and BRISK feature description have been used in [7]. They have adopted FAST for detection of features and
used BRISK for feature description. A quantative evaluation of measuring the performance of the feature detection
algorithms have been used in [8]. They focused on testing the performance of the keypoint detectors under different
 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287 279
Author name / Procedia Computer Science 00 (2018) 000–000 3

Fig. 1. flow diagram of hybrid feature detection.

rotation conditions. Rotation of the images play a major role of many image analysis and recognition. For example in
medical images i.e. microscopy images and tomographic images, image is mainly required to rotate for diagnosis. A
new feature descriptor, GLOH (Gradient Location and Orientation Histogram) have been proposed in [9]. This is an
extension of the SIFT descriptor, but it is shown to outperform SIFT as well other descriptors. They gave a conclusion
that ranking of the descriptors is independent of the interest region detector. M. Diarra et al. [10] study and compare a
set of tools for feature detection and description. They have used detectors like BRISK, FAST, FREAK (FAST Retina
Keypoint), HARRIS and SURF (Speeded-Up Robust Features) for multispectral face recognition which provides an
alternative to traditional face recognition. Here first step is to extract interest points on multispectral visible thermal
images. Second step is to do image matching for recognition of faces. A robust technique for image registration have
been described in [11]. Their proposed algorithm consists of two steps, first step is keypoint description and second is
the matching of those key points. They have applied FAST feature detector to detect the keypoints in both reference
image and target image for every detected keypoints. They have selected a rectangular region and feature vector for
respective key point is generated using HOG (Histogram of Gradient). Then all the feature vector are then matched in
both the images to generate the Transformation Matrix which is used to align target image. O. Miksik et al . [12] states
a performance evaluation of various feature detectors and compare their matching precision and speed. Their eval-
uation concludes that LIOP (Local Intensity Order Pattern), MRRID (Multi-Support Region Rotation and Intensity
Monotonic Invariant Descriptors), MROGH (Multi-Support Region Order-Based Gradient Histogram) outperforms
the existing feature descriptors SURF and SIFT in precision as well as recall.
A novel and robust feature descriptor named the Histogram of Oriented Phase Congruency (HOPC) have been
proposed by [13]. Further for multimodal registration, they have proposed a variant of HOPC that is HOPCncc, which
uses Normalised Correlation Coefficient (NCC) of HOPC descriptors. Their proposed HOPCncc is robust to nonlinear
radiometric differences between multi model remote sensing images. S.Isik et al. [14] evaluate the performance of
seven combination of well known feature detectors and descriptors. They have found out that for blur variations ORB,
MSER with SIFT or FAST with BRIEF descriptors are the most suitable ones. Similarly for viewpoint variation
MSER with SIFT and ORB can be effectively used. For varying illumination condition FAST with BRIEF descriptors
is useful. U.Shah et al . [15], gave a conclusion that using SURF, feature points can be detected and also pair of matches
feature points can be obtained . They have proved that it is faster than SIFT and PCA-SIFT and also it is a scale and
rotation invariant. A novel feature detector named BRISK have been proposed [16], which can be used for detecting,
describing and matching keypoints. It exhibits low computational cost and can be comparable with two well known
feature detectors SIFT and SURF. BRISK consists of two steps namely scale space key point detection and keypoint
description. Defines the operations on panaromic images, using the concept of image registration and implement the
various methods for different applications [19]. [20], Defines the different types of methods and techniques of image
registration with the effective demonstration of their proposed algorithm.

3. Proposed algorithm for detecting feature keypoints

This paper proposes an algorithm adopting the combination of both feature detection and description algorithm i.e.
BRISK and FAST. Proposed algorithm can be easily understood with the help of flow diagram i.e. shown in the below
Figure 1.
280 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287
4 Author name / Procedia Computer Science 00 (2018) 000–000

3.1. BRISK

For detecting a BRISK feature it consists of four steps. these are shown below [16]:

• Create scale space where octaves and intra-octaves used for scale space pyramid where octaves is half sam-
pled from the previous sample. Initial sample refererred as octaves and intra-ocatve is down sampled from the
octaves. It is in between of initial sample and increased sample.
• Compute FAST Score for every scale space that is for octaves and intra octaves and the FAST score computation
shown in the section 3.2
• Find out Non maximal suppression where it performed on each octaves and intra-ocatves. Non maximal supres-
sion mainly used to shorten the redundancy. It is also used for detecting the keypoints. This is used to resolve the
problem of detecting the multiple interest points in the adjacent location. It is based on the working of selecting
the maximal value from the difference of the sum of all detected feature points and 16 pixels i.e. surrounding.
• Compute Sub pixel maxima then selection of scale where intersection point of first and second line gives the
result of sub pixel maxima.

For describing a feature it consists of three steps :

• Describing a key points, it computes pixel to pixel comparison of intensity. Used for obtaining binary descriptor.
It accomplish the result for testing the brightness and produce the binary string and separate the pair of pixels
into two subset. When the intensity of pixel is higher then another pixel then it sets the bit 1, otherwise it sets
the bit 0.
• Compute the local gradient for each keypoints for rotation and orientation invariance.
• It produce two pairs. One stands for Long distance pair and another stands for Short distance pair. Long distance
pairs are those pair whose distance is to be considered above threshold value and used for determining the
orientation, where as Short distance pairs forms opposite result of long distance pairs. Simply it is those pair
whose distance is to be considered below threshold value and is used for comparing the intensity to build
descriptor.

Using all above detection and description steps keypoints can easily find from every image of data set.

3.2. FAST

This algorithm was actually developed by Tom Drummond et al. [17], and was revised later in [18]. This algorithm
can be used to detect corner key points. The main method of FAST algorithm is that it uses a circle of 16 pixels to
decide whether the central pixel will be a corner or non corner. It test only certain pixels rather then testing all the pixel
for computing the corner, so this algorithm is considered a fast algorithm as a name suggest. It is based on comparing
the intensity of all these pixels from the center pixel and find out that the central pixel is brighter or darker to formed
the result as corner. If atleast 12 pixels from the group of 16 pixels considered to be brighter or darker then the central
pixel is to be declared as corner. The main concept of brighter or darker pixel referred as three cases. These are shown
below.

• If we consider that the threshold value is added to the intensity then it is brighter.
• If threshold value is subtracted from the intensity then it is darker.
• If the intensity value is held between subtraction of intensity and addition of intensity then it is to be considered
as similar pixel.

None of three cases are possible then the central pixel will not be considered as corner point.
 Author name / Procedia Computer Science 00 (2018) 000–000 5
Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287 281

Fig. 2. estimating the center pixel using hybrid feature detection method.

3.3. Hybrid feature detector and descriptor

Combination of the both detection and description algorithm gives the best result because each algorithm has its
own advantages and disadvantages. So when both algorithms are combined ,it gives the best result whit reduced time
complexity. In BRISK algorithm detecting feature keypoints are very time consuming but it decreases the computa-
tional complexity as well as it is rotation and scale invariant. To resolve the problem of time in BRISK we preferred
next algorithm i.e. FAST. As the name suggest FAST, it is faster then BRISK and consumed less time as compare to
BRISK but it has the drawback that it is not scale invariant and depend on threshold value. It is based on detecting the
corner points not for the description of keypoints. So, taking these two algorithms, a combined approach is proposed
to produce both detection and description of feature keypoints in a very less time. The advantage of this approach is
not only to reduce the time complexity, but also to shorten the computational complexity. The results are summarized
in Tables I and II. In Hybrid feature detecor and descriptor, firstly build a corner point using the circle of 16 pixels
extracted from the set of images. Set of all 16 pixels considered to be as a partition of three sets for the result. One
deals with brighter portion and second one refers to darker portion and third one deals with similar potion. Here let
us consider a threshold value (t) and a intensity value (i). For the brighter section i is added to the t. For the darker
section i value is taken out from t value and for similar section it lies in between of darker and similar value. Using
these three section faster, the diagonal approach is used of all 16 pixels. In diagonal approach, two slanting lines are
prefered. One is right to left slant i.e. no of pixel (3 to 11) and another one is left to right slant i.e. no of pixel (15 to
7). The slanting line starts from 3rd pixel to 11th no. pixel and the another slanting line starts from no 15 pixel to no
7 pixel. Where both diagonal intersect that pixel would be the center corner pixel as shown in Figure 2.
So instead of finding all the pixels only four pixels are estimated, so the result is faster then others. At last apply
local gradient [16]on that resultant center corner pixel to know the distance of pixel is below or above the threshold
value for describing the features and the whole steps summarized in the Figure 1.

• Obtained image from the database. and then convert obtained image to the gray scale image format.
• Apply transformations (Rotaion and Scaling) on that resultant gray scale image.
• For Rotation of an image with the various angles, Equation 1 is applied and for scaling of an image with their
various vectors, Equation 2 is applied, shown as follows:
 
  x cos θ − y sin θ
R(x , y ) = (1)
x sin θ + y cos θ

Equation 1 refers to Clockwise Rotation of an image where R is denoted as Rotated resultant image, x’ refers to
horizontal rotated pixel coordinate , y’refers to vertical rotated pixel coordinate and x and y denotes the original
pixel coordinate in horizontal and vertical direction respectively. Different rotation angles which are used in
Simulation and Results section, are shown in Table I.
 
  x sx
S (x , y ) = (2)
y sy
282 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287
6 Author name / Procedia Computer Science 00 (2018) 000–000

Equation 2 denotes the scaling transformation where S referred as scaled image with their new coordinates x’,y’
in horizontal and vertical direction. sx and sy are the scaling vectors in both direction i.e. horizontal and vertical
direction. Here sx and sy both scaling vectors are same in both dircetion. Different scaling vectors are shown in
the Simulation and Results section of Table II.
• After applying the transformations, the feature keypoints were deducted from every image using detection and
description algorithm i.e. BRISK, FAST and presented Hybrid approach.
• Firstly BRISK feature keypoints have been detected with the help of above mentioned method of 3.1
• Secondly FAST feature keypoints have been detected with the help of above mentioned method of 3.2
• Finally Hybrid feature keypoints have been detected with the help of above mentioned method in section 3.3
from both the rotated and scaled images.
• Estimate the time of all rotated and scaled images using all the three algorithms (BRISK, FAST and Hybrid).
• finally it is proved that the presented Hybrid approach is better then both of earlier algorithms because it con-
sumes very less time in different rotation and scaling vectors.

4. Simulation and Results

The proposed algorithm has been sucessfully tested with the help of MATLAB 2017 on the Windows 10 operat-
ing system. The images in the experiments are the satellite images of the different areas. This paper deals with the
5 images like satellite image of Calcutta , Krishna river, Himalaya mountains, Iran and Sambalpur area. In order to
distinguish each algorithm, a comparision method is preferred to evaluate the performance in rotation and scale in-
variance. BRISK, FAST and combined approaches are selected in the comparision of every image with the various
rotation angles in rotation invariance and various scaling vectors in scaling invariance. In simulation, five figures are
captured. Fig. 3(a) corresponds to original satellite image of Sambalpur. Fig. 3(b) corresponds to the result of BRISK
feature detection algorithm with five feature key points. Here, for detecting five feature key points, a symbol of a ”Cir-
cle” is used. Fig. 3(c) refers to the result of FAST algorithm with five feature key points. The features are shown with
a ‘plus‘ sign. Fig. 3(d) shows the result of hybrid algorithm with five feature key points. The features of hybrid algo-
rithm are shown with a ”Plus” sign. For visualizing the feature keypoints of BRISK, FAST and hybrid feature detcting
keypoints are the different in each image consumes less time as shown in table I and II. In BRISK figures of every
image, it is detecting with the Circle method of 16 pixels. The size of circle denotes the scale of detecting keypoints
that are mentioned in Section 3.2. After detecting the keypoints of both approach, each image is rotated using various
angles. Each image is rotated with the angles like 30, 90, 120, 180 degree and then time is estimated with the each
rotation of image, as shown in Table I. It can be shown from Table I, in case of BRISK feature detection, for rotation of
300 angle it takes 0.2797ms, in case of FAST, it takes 0.0059ms and in case of the proposed hybrid algorithm it takes
0.0035ms, which is less than other two approaches. Similarly, for other three angles (900 , 1200 , 1800 ). It is concluded
that for detecting five feature points it takes less time, using hybrid algorithm. In the same way, in scaling invariance,
each image is scaled with their scaling vectors like 0.7, 1.0, 2.0, 0.5. each time of scaling is estimated and compared it
with the hybrid approach, which is shown in Table II. From Table II, it can be seen that for scaling factor of 0.7, when
we are using BRISK algorithm, it takes 0.2553ms for execution, for FAST feature algorithm it takes 0.0017ms for
execution. But using hybrid algortihm, it takes 0.0019ms for execution. For other scaling factors like 1.0, 2.0and5.0,
the same results can be shown.
 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287 283
Author name / Procedia Computer Science 00 (2018) 000–000 7

(a) (b)

(c) (d)
Fig. 3. (a) Sbp Original; (b) Sbp BRISK; (c) Sbp FAST; (d) Sbp Hybrid approach.

(a) (b)

(c) (d)
Fig. 4. (a) Calcutta Original; (b)Calcutta BRISK; (c) Calcutta FAST; (d) Calcutta Hybrid approach .
 8 Author name / Procedia Computer Science 00 (2018) 000–000
284 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287

(a) (b)

(c) (d)
Fig. 5. (a) Krishna Original; (b) Krishna BRISK ;(c) Krishna FAST; (d) Krishna Hybrid approach.

(a) (b)

(c) (d)
Fig. 6. (a) Himalaya Original; (b) Himalaya BRISK; (c) Himalaya FAST; (d) Himalaya Hybrid approach.
 Author name / Procedia Computer Science 00 (2018) 000–000 9

Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287 285

(a) (b)

(c) (d)
Fig. 7. (a) IRAN Original; (b) IRAN BRISK ; (c) IRAN FAST; (d) IRAN Hybrid approach.

Table 1. Time Estimation on five images using various Rotation angles.

Figure no. Algorithms 30◦ 90◦ 120◦ 180◦

Sbp Image Fig.3 BRISK 0.2797 0.2725 0.2796 0.2726

FAST 0.0059 0.0041 0.0039 0.0033
Hybrid Approach 0.0035 0.0031 0.0034 0.0029
Calcutta Image Fig.4 BRISK 0.2242 0.2174 0.2211 0.2190
FAST 0.0024 0.0029 0.0032 0.0023
Hybrid Approach 0.0024 0.0019 0.0023 0.0018
Krishna Image Fig.5 BRISK 0.1999 0.1975 0.2020 0.1983
FAST 0.0028 0.0011 0.0013 0.0017
Hybrid Approach 0.0013 0.0010 0.0016 0.0009
Himalaya Image Fig.6 BRISK 0.2284 0.2194 0.2229 0.2201
FAST 0.0023 0.0019 0.0024 0.0022
Hybrid Approach 0.0023 0.0018 0.0024 0.0018
IRAN Image Fig.7 BRISK 0.2156 0.2125 0.2179 0.2107
FAST 0.0022 0.0017 0.0022 0.0019
Hybrid Approach 0.0021 0.0017 0.0022 0.0018
 286 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287
10 Author name / Procedia Computer Science 00 (2018) 000–000

Table 2. Time Estimation on five images using various Scaling vectors.

Figure no. Algorithms 0.7 1.0 2.0 5.0

Sbp Image Fig.3 BRISK 0.2553 0.3204 0.5318 0.8978
FAST 0.0017 0.0040 0.0143 0.0310
Hybrid Approach 0.0013 0.0038 0.0139 0.0302
Calcutta Image Fig.4 BRISK 0.1975 0.2126 0.2361 0.3092
FAST 0.0016 0.0025 0.0045 0.0196
Hybrid Approach 0.0013 0.0021 0.0037 0.0195
Krishna Image Fig.5 BRISK 0.2280 0.2312 0.2399 0.2906
FAST 0.0012 0.0014 0.0020 0.0128
Hybrid Approach 0.0009 0.0018 0.0022 0.0015
Himalaya Image Fig.6 BRISK 0.2433 0.2625 0.3065 0.4033
FAST 0.0022 0.0025 0.0052 0.0189
Hybrid Approach 0.0019 0.0021 0.0049 0.0159
IRAN Image Fig.7 BRISK 0.2344 0.2544 0.2823 0.3743
FAST 0.0022 0.0028 0.0058 0.0195
Hybrid Approach 0.0015 0.0024 0.0048 0.0186

5. Conclusion

The present paper deals with a hybrid feature detection and description algorithms using two well known feature
detection algorithms i.e. BRISK and FAST. Here, the limitation of these two algorithms have been taken care. The
currrent Hybrid algorithms have been applied to various remote sensing images and from the given results it can be
concluded that the proposed algorithm performs well with respect to time complexity. These concepts are presented
in the terms of tables and flow charts.

6. Future work

Here two existing algorithms have been considered for feature detection. Future work is to propose a new algorithm
for feature detection, description and matching.

References

[1] B.Zitova, J.Flusser, F.Sroubek. (2005) “Image Registration : A Survey and Recent advances.” Institue of Information Theory and Automation
Academy of Sciences of Czech Republic Pod Uarenskou vezi4,18208 Prague and Czech Republic (ICIP Tutorial)
[2] Brown Gottesfeld L. (1992) “A survey of Image Registeration techniques.” ACM Computing Survey 24: 325-376.
[3] Q.Chen. (1993) “Image Registration and its application in medical imaging.” Ph.D. Thesis Vrije University , Brussels Belgium
[4] W.K.Pratt. (1991) “Digital Image Processing John, Willey ,New York.” 2
[5] Bishop, Christopher. (2006) “Pattern Recognition and Machine Learning , Berlin .” Springer
[6] Parita, P.Vaghasiya, P.K.Gautam. (2015) “Image Registration Techniques : A Review.” International Journal of CS and Engineering 2 (4):
10489–10492.
[7] Mengzie Zhou, Guofeng Zhang, Xiaoguang Hu, Dan Sun,Jin Xiao. (2017) “SAR Real Time Guidance System Based on Multi-scale FAST-
BRISK.” IEEE International Conference on control and Automation (ICCA) 13: 425–430.
[8] Karol Matusiak, Piotr Skulimowski, Pawel Strumillo. (2017) “Unbiased evaluation of keypoint detectors with respect to rotation invariance.”
The Institution of Engineering and Technology (IET) 11 (7): 507–516.
[9] Krystian Mikolajczyk, Cordelia Schmid. (2005) “A Performance Evaluation of Local Descriptors.” IEEE Transaction on Pattern analysis and
machine intelligence (PAMI) 27 (10): 1615–1630.
[10] MAMADOU Diarra, ADOU Kablan Jerome. (2016) “A Comparative Study of descriptors and Detectors in Multispectral Face Recognition.”
International conference on Signal - Image Technology and Internet -Based Systems (IEEE Computer Society) 12.
[11] Eldho Abraham, Saurabh Mishra, Nivedita Tripathi, Gineesh Sukumaran. (2013) “HOG descriptor based Registration (A New Image Regis-
teration Technique ).” IEEE.
[12] Ondrej Miksik, Krystian Mikolajczyk. (2012) “Evaluation of Local Detectors and Descriptors for Fast Feature Matching.” International Con-
ference on Pattern Recognition (ICPR 2012) 21.
 Anchal Kumawat et al. / Procedia Computer Science 132 (2018) 277–287 287
Author name / Procedia Computer Science 00 (2018) 000–000 11

[13] Yaunxin Ye, Member, IEEE, Jie Shan, Senior Member IEEE, Lorenzo Bruzzone, Fellow, IEEE and Li Shen. (2017) “Robust Registration of
Multimodal Remote Sensing Images Based on Structural Similarity.” IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING 55
(5).
[14] Sahin Isik, Kemal Ozkan. (2014) “A Comparative Evaluation of Well - known Feature Detectors and Descriptors.” International Journal of
Applied Mathematics ,Electronics and Computers 3 (1): 1–6.
[15] Utsav Shah, Darsshana Mistry, Asim Banerjee. (2014) “Image Registration of Multiview Satellite Images Using Best Features Points Detection
and Matching Methods from SURF, SIFT and PCA-SIFT.” Journal of Emerging Technologies and Innovative Research (JETIR) 1 (1).
[16] Leutenegger, Stefan , Chli, Margarita; Siegwart, Roland. (2011) “BRISK : Binary Robust Invariant Scalable Keypoints.” ETH Library.
[17] Edward Rosten and Tom Drummond. (2006) “Machine learning for high speed corner detection.” European Conference on Computer Vision 9
(1): 430-443.
[18] Edward Rosten, Reid Porter and Tom Drummond. (2010) “Faster and better: a machine learning approach to corner detection.” IEEE Trans.
Pattern Analysis and Machine Intelligence 32 : 105–119.
[19] Sindhu madhuri. (2014) “Classification of Image Registration technique and Algorithm in Digital image processing - A Research survey.”
IJCTT 15 (2).
[20] Ritu singh Roghat, Hardik Damecha, Manoj Pandya, Bharat Choudhary, Madhukar Potdar. (2014) “Different Image Registration Methods- An
Overview.” International journal of Scientific and Engineering Research (IJSER) 5 (12): 44–49.