Systems and methods for detecting and matching keypoints between different views of a scene are disclosed herein. One embodiment acquires first and second images; subdivides the first and second images into first and second pluralities of cells, respectively; processes both pluralities of cells using a neural keypoint detection network to identify a first keypoint for a particular cell in the first plurality of cells and a second keypoint for a particular cell in the second plurality of cells, at least one of the first and second keypoints lying in a cell other than the particular cell in the first or second plurality of cells for which it was identified; and classifies the first keypoint and the second keypoint as a matching keypoint pair based, at least in part, on a comparison between a first descriptor associated with the first keypoint and a second descriptor associated with the second keypoint.
SYSTEMS AND METHODS FOR DETECTING AND MATCHING KEYPOINTS BETWEEN DIFFERENT VIEWS OF A SCENE