Patent ID: 9659234
Date: 2017-05-23
CPC Classifications: G06K,G06T

Claim:
1. A processor-implemented method for adaptive selection of image feature keypoints, the method comprising: receiving, by a processor, a set of feature keypoints associated with an image, wherein the image is generated by a camera that causes visual distortion to capture a wide angle field of view; generating, by the processor, contrast measurements of regions of the image associated with each of the feature keypoints; calculating, by the processor, a mean and a variance of the contrast measurements; generating, by the processor, ratios of principal curvatures of the regions of the image associated with each of the feature keypoints; calculating, by the processor, a mean and a variance of the ratios of principal curvatures; calculating, by the processor, a first threshold based on the mean and variance of the contrast measurements, and a second threshold based on the mean and variance of the ratios of principal curvatures; and filtering, by the processor, the set of feature keypoints based on the first and second thresholds.