Methods and apparatuses for corner detection using neural network and corner detector

An apparatus configured to be head-worn by a user, comprising:

• a screen configured to present graphics for the user;
• a camera system configured to view an environment in which the user is located;
• and
• a processing unit coupled to the camera system, the processing unit configured to:
• obtain locations of features for image data associated with the environment, wherein the locations of the features are identified by a neural network;
• determine a region of interest for one of the features in the image, the region of interest having a size that is less than a size of the image;
• and
• perform a corner detection using a corner detection algorithm to identify a corner in the region of interest,
• wherein the processing unit is configured to determine a position of the corner in the image based at least in part on a position of the corner in the region of interest.

An apparatus configured to be head-worn by a user, comprising:

• a screen configured to present graphics for the user;
• a camera system configured to view an environment in which the user is located;
• and
• a processing unit coupled to the camera system, the processing unit configured to:
• obtain locations of features for image data associated with the environment, wherein the locations of the features are identified by a neural network;
• determine a region of interest for one of the features in the image, the region of interest having a size that is less than a size of the image;
• and
• perform a corner detection using a corner detection algorithm to identify a corner in the region of interest,
• wherein the processing unit is configured to determine a score for each pixel in the region of interest.

A method performed by a head-worn image display device, comprising:

• obtaining locations of features in an image, wherein the locations of the features are identified by a neural network;
• determining a region of interest for one of the features in the image, the region of interest having a size that is less than a size of the image;
• and
• performing a corner detection using a corner detection algorithm to identify a corner in the region of interest,
• wherein the image has a first resolution, and wherein the locations of the features are identified by the neural network based on another image having a second resolution that is less than the first resolution.

A method performed by a head-worn image display device, comprising:

• obtaining locations of features in an image, wherein the locations of the features are identified by a neural network;
• determining a region of interest for one of the features in the image, the region of interest having a size that is less than a size of the image;
• performing a corner detection using a corner detection algorithm to identify a corner in the region of interest;
• and
• determining a position of the corner in the image based at least in part on a position of the corner in the region of interest.

A method performed by a head-worn image display device, comprising:

• obtaining locations of features in an image, wherein the locations of the features are identified by a neural network;
• determining a region of interest for one of the features in the image, the region of interest having a size that is less than a size of the image;
• performing a corner detection using a corner detection algorithm to identify a corner in the region of interest;
• and
• determining a score for each pixel in the region of interest.