The OpenVX Specification  r28647
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Bibliography
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Edward Rosten and Tom Drummond. Machine learning for high-speed corner detection. In European Conference on Computer Vision, volume 1, pages 430–443, May 2006.

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Edward Rosten, Reid Porter, and Tom Drummond. Faster and better: A machine learning approach to corner detection. IEEE Trans. Pattern Analysis and Machine Intelligence, 32:105–119, October 2010.