US 12,169,959 B2
Filtering of keypoint descriptors based on orientation angle
Assaf Metuki, Moshav Herut (IL); Lukas Polok, Cupertino, CA (US); Danny Gal, Hod-Hasharon (IL); and Liran Fishel, Raanana (IL)
Assigned to APPLE INC., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Mar. 11, 2022, as Appl. No. 17/693,007.
Prior Publication US 2023/0316706 A1, Oct. 5, 2023
Int. Cl. G06F 17/00 (2019.01); G06V 10/74 (2022.01); G06V 10/75 (2022.01)
CPC G06V 10/757 (2022.01) [G06V 10/761 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A circuit for determining matching keypoints in images, comprising:
a header match circuit configured to:
receive first headers of first keypoint descriptors of a first image and second headers of second keypoints descriptors of a second image, and
compare the first headers indicative of a first orientation angle range with a subset of the second headers indicative of a second orientation angle range that includes the first orientation angle range to determine a subset of the first keypoint descriptors and a subset of second keypoint descriptors that satisfy one or more matching criteria;
a distance circuit coupled to the header match circuit and configured to determine distances between first descriptor vectors of the subset of first keypoint descriptors and second descriptor vectors of the subset of second keypoint descriptors; and
a match selector circuit coupled to the distance circuit and configured to determine matching ones of the first keypoint descriptors and the second keypoint descriptors using the determined distances.