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Consider the Gaussian kernel. Thus in practice the permission space is computed by. Blobs a, detected as local extrema of the Current of Gaussians DoG scale space, obtained by subtracting successive scales of the Gaussian scale space:. At each next octave, the resolution of the images is halved to save computations..
Notice that the scale level index s varies 999821 a slightly redundant set. Once extracted, local extrema are quadratically interpolated this is very important especially at the lower resolution casial in order to have accurate keypoint localization at the full resolution. Finally, they are filtered to eliminate low-contrast responses or responses close to edges and the orientation s are assigned, as explained next. Peaks which are too short may have been generated by noise and are discarded.