Feature extraction with keypoint resampling and fusion (krf)

An apparatus of feature extraction from an image, comprising circuitry configured to:

• receive the image including pixels;
• generate confidence values corresponding to positions of the pixels in the image by an artificial intelligence (AI) based feature extractor;
• select a first position among the positions of the pixels in the image, a first confidence value among the generated confidence values at the first position being higher than a first threshold;
• and
• generate a final set of keypoint-descriptor pairs based on the confidence values corresponding to positions of the pixels in the image, the final set of keypoint-descriptor pairs including at least two keypoint-descriptor pairs corresponding to the first position among the positions of the pixels in the image.

A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause the processor to perform a method of feature extraction from an image, the method comprising:

• receiving the image including pixels;
• generating confidence values corresponding to positions of the pixels in the image by an artificial intelligence (AI) based feature extractor;
• selecting a first position among the positions of the pixels in the image, a first confidence value among the generated confidence values at the first position being higher than a first threshold;
• and
• generating a final set of keypoint-descriptor pairs based on the confidence values corresponding to positions of the pixels in the image, the final set of keypoint-descriptor pairs including at least two keypoint-descriptor pairs corresponding to the first position among the positions of the pixels in the image.