ALIKE: Accurate and Lightweight Keypoint Detection and Descriptor Extraction

12/06/2021
by   Xiaoming Zhao, et al.
0

Existing methods detect the keypoints in a non-differentiable way, therefore they can not directly optimize the position of keypoints through back-propagation. To address this issue, we present a differentiable keypoint detection module, which outputs accurate sub-pixel keypoints. The reprojection loss is then proposed to directly optimize these sub-pixel keypoints, and the dispersity peak loss is presented for accurate keypoints regularization. We also extract the descriptors in a sub-pixel way, and they are trained with the stable neural reprojection error loss. Moreover, a lightweight network is designed for keypoint detection and descriptor extraction, which can run at 95 frames per second for 640x480 images on a commercial GPU. On homography estimation, camera pose estimation, and visual (re-)localization tasks, the proposed method achieves equivalent performance with the state-of-the-art approaches, while greatly reduces the inference time.

READ FULL TEXT

page 1

page 4

page 5

page 7

page 8

research
04/07/2023

ALIKED: A Lighter Keypoint and Descriptor Extraction Network via Deformable Transformation

Image keypoints and descriptors play a crucial role in many visual measu...
research
12/23/2019

Neural Outlier Rejection for Self-Supervised Keypoint Learning

Identifying salient points in images is a crucial component for visual o...
research
04/12/2023

SiLK – Simple Learned Keypoints

Keypoint detection descriptors are foundational tech-nologies for co...
research
08/28/2023

S-TREK: Sequential Translation and Rotation Equivariant Keypoints for local feature extraction

In this work we introduce S-TREK, a novel local feature extractor that c...
research
05/02/2021

MarkerPose: Robust Real-time Planar Target Tracking for Accurate Stereo Pose Estimation

Despite the attention marker-less pose estimation has attracted in recen...
research
07/07/2023

RCDN – Robust X-Corner Detection Algorithm based on Advanced CNN Model

Accurate detection and localization of X-corner on both planar and non-p...
research
05/08/2021

Improving Robustness for Pose Estimation via Stable Heatmap Regression

Deep learning methods have achieved excellent performance in pose estima...

Please sign up or login with your details

Forgot password? Click here to reset