EdgePoint: Efficient Point Detection and Compact Description via Distillation
Haodi Yao,Ning Hao,Chen Xie,Fenghua He,Haodi Yao,Ning Hao,Chen Xie,Fenghua He
Efficient interest point detection and description in images play a crucial role in many tasks such as multi-robot SLAM and collaborative localization. To facilitate fast detection and generate compact descriptions on edge devices, we introduce EdgePoint, a lightweight neural network. We design a new detection loss UnfoldSoftmax to improve inference speed. Futhermore, we propose Ortho-Alignment lo...
