in combination with a complementary localization step to handle the increase in localization error at coarser scales. In this way, larger scale values will be associated with rounded corners of large spatial extent while smaller scale values will be associated with sharp corners with small spatial extent. This approach is the first corner detector with automatic scale selection (prior to the "Harris-Laplace operator" above) and has been used for tracking corners under large scale variations in the image domain and for matching corner responses to edges to compute structural image features for geon-based object recognition.