Fig. 1. Flow chart of MFAST-SURF algorithm

Fig. 2. Principle of MFAST corner detection

Fig. 3. Determine the main direction of feature point

Fig. 4. Generation of SURF descriptors

Fig. 5. Flow chart of optimized sampling

Fig. 6. Determination of t

Fig. 7. Processing results of the two algorithms on the original image. (a) SIFT-RANSAC; (b) SIFT-OSRAC

Fig. 8. Processing results of two algorithms on rotated image. (a) SIFT-RANSAC; (b) SIFT-OSRAC

Fig. 9. Processing results of the two algorithms on the image of illumination change. (a) SIFT-RANSAC; (b) SIFT-OSRAC

Fig. 10. First group of images. (a) FAST-RANSAC; (b) MFAST-OSRAC; (c) SIFT-RANSAC

Fig. 11. Second group of images. (a) FAST-RANSAC; (b) MFAST-OSRAC; (c) SIFT-RANSAC

Fig. 12. Third group of images. (a) FAST-RANSAC; (b) MFAST-OSRAC; (c) SIFT-RANSAC