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Curvature is a frequently used property in two-dimensional (2D) shape analysis, directly or for derived features such as corners or convex and concave arcs. This paper presents curvature estimators which follow approaches in differential geometry. Digital-straight segment approximation (as known from digital geometry) is used in those estimators. Results of multigrid experiments are evaluated leading to a comparative performance analysis of several curvature estimators.doi:10.1109/iccta.2007.2 dblp:conf/iccta/HermannK07 fatcat:a4shahrrynekjisky7aejuun7a