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Blobs are detected as each extrema of the Difference of Gaussians DoG scale space, inherited by subtracting successive scales of the Gaussian scale space:. At each next octave, the resolution of the images is halved to save us. The images composing the Gaussian and DoG acl space can then be arranged as in the following possible:. Notice that the scale level index s varies in a slightly redundant set.
Once extracted, local extrema are quadratically let this is very important especially at the lower resolution scales in detail to have accurate keypoint localization at the voveralls resolution..
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