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SuperGlue: Learning Feature Matching With Graph Neural ...

SuperGlue: Learning Feature Matching with Graph Neural NetworksPaul-Edouard Sarlin1 Daniel DeTone2 Tomasz Malisiewicz2 Andrew Rabinovich21 ETH Zurich2 Magic Leap, paper introduces SuperGlue, a Neural network thatmatches two sets of local features by jointly finding corre-spondences and rejecting non-matchable points. Assign-ments are estimated by solving a differentiable optimaltransport problem, whose costs are predicted by a graphneural network. We introduce a flexible context aggregationmechanism based on attention, enabling SuperGlue to rea-son about the underlying 3D scene and Feature assignmentsjointly. Compared to traditional, hand-designed heuris-tics, our technique learns priors over geometric transforma-tions and regularities of the 3D world through end-to-endtraining from image pairs.

score + Attentional Graph Neural Network score matrix Attentional Aggregation Optimal Matching Layer partial assignment M +1 N+1 visual descriptor =1 matching descriptors position + Keypoint Encoder local features Sinkhorn Algorithm column norm. row normalization v10 T Figure 3: The SuperGlue architecture.

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