The Harris corner detector [1] computes the locally averaged moment matrix computed from the image gradients, and then combines the eigenvalues of the moment matrix to compute a corner "strength", of which maximum values indicate the corner positions.

[2] P. H. S.
Torr, *A Structure and Motion Toolkit in MATLAB*,
Technical Report MSR-TR-2002-56, Microsoft Research, 2002.

[3] Yi Ma, Stefano Soatto, Jana Kosecka, S. Shankar Sastry, *An
Invitation to 3-D Vision, from Images to Geometric Models*,
Springer, 2004. ISBN 0-387-00893-4.

Maintained by John Loomis,
last updated *21 May 2005*