Systems and methods for determining keypoints and camera parameters using machine learning

A system for determining keypoints and camera parameters, comprising:

• at least one memory;
• and
• at least one hardware processor coupled with the at least one memory and configured, individually or in combination, to:
• execute a first machine learning model of a first type to identify camera parameters of an input image;
• generate sets of shifted camera parameters by applying a set of predefined delta values to each of the camera parameters;
• calculate a plurality of homography matrices based on the sets of shifted camera parameters;
• execute a second machine learning model of a second type to identify a plurality of keypoints in the input image;
• for each respective set of the shifted camera parameters:
• project the plurality of keypoints to planar coordinates using a homography matrix from the plurality of homography matrices that corresponds to the respective set of the shifted camera parameters;
• calculate a line of best fit that comprises the planar coordinates;
• and
• determine a total difference between the line of best fit and each of the planar coordinates;
• and
• identify a set of the shifted camera parameters with a minimal value of difference.

A non-transitory computer readable medium storing thereon computer executable instructions for determining keypoints and camera parameters, including instructions for:

• executing a first machine learning model of a first type to identify camera parameters of an input image;
• generating sets of shifted camera parameters by applying a set of predefined delta values to each of the camera parameters;
• calculating a plurality of homography matrices based on the sets of shifted camera parameters;
• executing a second machine learning model of a second type to identify a plurality of keypoints in the input image;
• for each respective set of the shifted camera parameters:
• projecting the plurality of keypoints to planar coordinates using a homography matrix from the plurality of homography matrices that corresponds to the respective set of the shifted camera parameters;
• calculating a line of best fit that comprises the planar coordinates;
• and
• determining a total difference between the line of best fit and each of the planar coordinates;
• and
• identifying a set of the shifted camera parameters with a minimal value of difference.