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SuperPoint: Self-Supervised Interest Point Detection and ...

SuperPoint: Self-Supervised Interest Point Detection and Description Daniel DeTone Tomasz Malisiewicz Andrew Rabinovich Magic Leap Magic Leap Magic Leap Sunnyvale, CA Sunnyvale, CA Sunnyvale, CA. Abstract Image Pair SuperPoint Network Point Correspondence This paper presents a Self-Supervised framework for Interest Points training Interest Point detectors and descriptors suitable for a large number of multiple-view geometry problems in computer vision. As opposed to patch-based neural net- works, our fully-convolutional model operates on full-sized images and jointly computes pixel-level Interest Point loca- Descriptors tions and associated descriptors in one forward pass.

such as Simultaneous Localization and Mapping (SLAM), Structure-from-Motion (SfM), camera calibration, and im- ... tasks such as human pose estimation [31], object detec-tion [14], and room layout estimation [12]. At the heart ... Self-Supervised Training Overview. In our self-supervised approach, we (a) pre-train an initial interest point ...

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