CPC G06V 10/7715 (2022.01) [G06T 3/4007 (2013.01); G06V 10/443 (2022.01); G06V 10/82 (2022.01)] | 17 Claims |
1. An apparatus for detecting a keypoint based on deep learning robust to scale changes based on information change across receptive fields, the apparatus comprising:
at least one processor; and
at least one memory including instructions that when executed by the at least one processor, implement:
a feature extractor that extracts a feature from an input image based on a pre-trained deep learning neural network;
an information accumulation pyramid part that outputs, from the feature, at least two filter responses corresponding to receptive fields having different scales;
an information change detector that calculates an information change between the at least two filter responses;
a keypoint detector that creates a score map having a keypoint probability of each pixel based on the information change; and
a continuous scale estimator that estimates a scale of a receptive field having a biggest information change for each pixel.
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