Method, apparatus, and system for generating feature correspondence from camera geometry

An apparatus for determining a feature correspondence between a first image and a second image based on camera geometry comprising:

• at least one processor;
• and
• at least one memory including computer program code for one or more programs,
• the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following,
• determine a first labeled or detected pixel location in the first image and a second labeled or detected pixel location in the second image;
• compute a first ray from a first camera position of the first image through the first labeled or detected pixel location;
• compute a second ray from a second camera position of the second image through the second labeled or detected pixel location;
• compute a closeness value of the first ray and the second ray;
• and
• provide an output indicating the feature correspondence between the first labeled or detected pixel location and the second labeled or detected pixel location based on determining that the closeness value is within a threshold value.

A non-transitory computer-readable storage medium for determining a feature correspondence between a first image and a second image based on camera geometry, carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:

• determining a first labeled or detected pixel location in the first image and a second labeled or detected pixel location in the second image;
• computing a first ray from a first camera position of the first image through the first labeled or detected pixel location;
• computing a second ray from a second camera position of the second image through the second labeled or detected pixel location;
• computing a closeness value of the first ray and the second ray;
• and
• providing an output indicating the feature correspondence between the first labeled or detected pixel location and the second labeled or detected pixel location based on determining that the closeness value is within a threshold value.