Methods and systems for generating three-dimensional representations

An image processing apparatus for processing images, the image processing apparatus being configured to perform a method comprising:

• obtaining a first image;
• obtaining a second image;
• logically dividing the first image into N regions, where N≥2 such that the set of N regions comprises a first region of the first image and a second region of the first image, wherein the first region of the first image does not include the entire first image, the second region of the first image does not include the entire first image, and the first region of the first image and the second region of the first image do not overlap;
• for the first region of the first image, defining a corresponding first region of the second image, wherein the corresponding first region of the second image does not include the entire second image;
• for the second region of the first image, defining a corresponding second region of the second image, wherein the corresponding second region of the second image does not include the entire second image;
• detecting a first feature in the first region of the first image;
• detecting a second feature in the second region of the first image;
• searching the second image for a feature matching the first feature detected in the first region of the first image, wherein the searching of the second image for a feature matching the first feature detected in the first region of the first image is limited to searching only the corresponding first region of the second image for a feature matching the first feature;
• and
• searching the second image for a feature matching the second feature detected in the second region of the first image, wherein the searching of the second image for a feature matching the second feature detected in the second region of the first image is limited to searching only the corresponding second region of the second image for a feature matching the second feature.