Corner point detection method, device, equipment and medium

The invention provides a corner detection method and device, equipment and a storage medium, and the method comprises the steps: obtaining a checkerboard image; then, performing brightness feature calculation on the checkerboard image to obtain a brightness feature image corresponding to the checkerboard image; then, converting the brightness feature image into a binary image; and finally, detecting a target angular point in the checkerboard image based on the gray value of the binarized image. Therefore, brightness feature calculation and binarization processing are carried out on the checkerboard image in sequence, the influence of brightness features on a corner detection result can be eliminated, the accuracy of the corner detection result is ensured, and complex corners at any position can be detected, so that the requirement of accurately and comprehensively carrying out corner detection is met. 本公开提供了一种角点检测方法、装置、设备及存储介质，首先，获取棋盘格图像；然后，对棋盘格图像进行亮度特征计算，得到棋盘格图像对应的亮度特征图像；接着，将亮度特征图像转化为二值化图像；最后基于二值化图像的灰度值，检测棋盘