Image matching using chroma-enhanced or adaptable size features

A method, comprising:

• obtaining a first image frame and a second image frame;
• generating a modified first image frame and a modified second image frame, wherein to generating the modified first image frame and the modified second image frame comprises converting a first color space of the first image frame and a second color space of the second image frame to a third color space;
• extracting a first plurality of features from the modified first image frame;
• extracting a second plurality of features from the modified second image frame;
• determining a plurality of first matching costs for a plurality of feature pairs, wherein for each feature pair of the plurality of feature pairs:
• the feature pair includes a respective first feature from the first plurality of features and a respective second feature from the second plurality of features, and
• the respective first matching cost of the plurality of first matching costs, determined for the feature pair quantifies a respective correspondence between the respective first feature and the respective second feature of the feature pair;
• and
• comparing the plurality of first matching costs to identify one or more feature pairs, from the plurality of feature pairs, as corresponding feature pairs between the modified first image frame and the modified second image frame.

One or more non-transitory computer-readable media comprising executable instructions that, when executed by one or more processors of an apparatus, cause the apparatus to perform operations comprising:

• obtaining a first image frame and a second image frame;
• generating a modified first image frame and a modified second image frame, wherein to generate the modified first image frame and the modified second image frame comprises to convert a first color space of the first image frame and a second color space of the second image frame to a third color space;
• extracting a first plurality of features from the modified first image frame;
• extracting a second plurality of features from the modified second image frame;
• determining a plurality of first matching costs for a plurality of feature pairs, wherein for each feature pair of the plurality of feature pairs:
• the feature pair includes a respective first feature from the first plurality of features and a respective second feature from the second plurality of features, and
• the respective first matching cost of the plurality of first matching costs, determined for the feature pair quantifies a respective correspondence between the respective first feature and the respective second feature of the feature pair;
• and
• comparing the plurality of first matching costs to identify one or more feature pairs, from the plurality of feature pairs, as corresponding feature pairs between the modified first image frame and the modified second image frame.