Baojiang Zhong Chang Li Zhengsheng Wang Curvature product corner detection in direct curvature scale space. 194-205 2010 1 Int. J. Comput. Vis. Robotics 2 https://doi.org/10.1504/IJCVR.2010.036081 db/journals/ijcvr/ijcvr1.html#ZhongLW10