<title>The Outline Corner Filter</title>

Abstract

The outline corner filter is a very fast 2-D outline data compression algorithm. Input to the algorithm is a chain-coded outline, or connected sequence of points; output are the co-ordinates of the vertices of an approximating polygon. The style and accuracy of the approximation are controlled by parameters, and are widely variable. The accuracy is contained within defined limits, which is important for robot grasping. The algorithm has been carefully optimised to run very rapidly in a cheap microprocessor. To that end, it uses no multiplication or division, and contains no iterated loops.