Apparatus and methods for tracking features within images

A method by at least one processor, the method comprising:

• receiving a first image and a second image captured by at least one sensor;
• detecting a feature within the first image and the second image, the feature located at a first feature position within the first image and at a second feature position within the second image;
• receiving a first sensor pose of the at least one sensor used to capture the first image and a second sensor pose of at least one sensor used to capture the second image;
• and
• generating feature detection data identifying whether the feature is detected within a portion of a third image based on the first sensor pose, the second sensor pose, the first feature position, and the second feature position.

A non-transitory, machine-readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform operations that include:

• receiving a first image and a second image captured by at least one sensor;
• detecting a feature within the first image and the second image, the feature located at a first feature position within the first image and at a second feature position within the second image;
• receiving a first sensor pose of the at least one sensor used to capture the first image and a second sensor pose of at least one sensor used to capture the second image;
• and
• generating feature detection data identifying whether the feature is detected within a portion of a third image based on the first sensor pose, the second sensor pose, the first feature position, and the second feature position.