Systems and methods for detecting and matching keypoints between different views of a scene

A non-transitory computer-readable medium for detecting and matching keypoints between different views of a scene and storing instructions that when executed by one or more processors cause the one or more processors to:

• acquire a first image of the scene and a second image of the scene, wherein the second image of the scene differs from the first image of the scene;
• subdivide the first image of the scene into a first plurality of cells;
• subdivide the second image of the scene into a second plurality of cells;
• process the first plurality of cells and the second plurality of cells using a neural keypoint detection network to identify, for a particular cell in the first plurality of cells, a first keypoint within the first plurality of cells and to identify, for a particular cell in the second plurality of cells, a second keypoint in the second plurality of cells, wherein at least one of the first keypoint and the second keypoint lies in a cell other than the particular cell in the first or second plurality of cells for which it was identified;
• and
• classify the first keypoint and the second keypoint as a matching keypoint pair based, at least in part, on a comparison between a first descriptor associated with the first keypoint and a second descriptor associated with the second keypoint.

A method of detecting and matching keypoints between different views of a scene, the method comprising:

• acquiring a first image of the scene and a second image of the scene, wherein the second image of the scene differs from the first image of the scene;
• subdividing the first image of the scene into a first plurality of cells;
• subdividing the second image of the scene into a second plurality of cells;
• processing the first plurality of cells and the second plurality of cells using a neural keypoint detection network to identify, for a particular cell in the first plurality of cells, a first keypoint within the first plurality of cells and to identify, for a particular cell in the second plurality of cells, a second keypoint in the second plurality of cells, wherein at least one of the first keypoint and the second keypoint lies in a cell other than the particular cell in the first or second plurality of cells for which it was identified;
• and
• classifying the first keypoint and the second keypoint as a matching keypoint pair based, at least in part, on a comparison between a first descriptor associated with the first keypoint and a second descriptor associated with the second keypoint.