mlsanityData to 7 Oct 2026

Key.Net: Keypoint Detection by Handcrafted and Learned CNN Filters

arXiv 1904.00889 ↗First posted 1 Apr 2019cs.CVcited by 117

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Abstract (arXiv)

We introduce a novel approach for keypoint detection task that combines handcrafted and learned CNN filters within a shallow multi-scale architecture. Handcrafted filters provide anchor structures for learned filters, which localize, score and rank repeatable features. Scale-space representation is used within the network to extract keypoints at different levels. We design a loss function to detect robust features that exist across a range of scales and to maximize the repeatability score. Our Key.Net model is trained on data synthetically created from ImageNet and evaluated on HPatches benchmark. Results show that our approach outperforms state-of-the-art detectors in terms of repeatability, matching performance and complexity.

Key facts. Cited by 117 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Apr 2019.

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Citing papers per year: 2021: 18; 2022: 18; 2023: 26; 2024: 22; 2025: 17; 2026: 16.

117 papers.

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  1. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,526
  2. 2024Grounding Image Matching in 3D with MASt3Rcited by 960
  3. 2024Efficient LoFTR: Semi-Dense Local Feature Matching with Sparse-Like Speedcited by 119
  4. 2024XFeat: Accelerated Features for Lightweight Image Matchingcited by 113
  5. 2021ALIKE: Accurate and Lightweight Keypoint Detection and Descriptor Extractioncited by 77
  6. 2025Pow3R: Empowering Unconstrained 3D Reconstruction with Camera and Scene Priorscited by 69
  7. 2023DeDoDe: Detect, Don't Describe -- Describe, Don't Detect for Local Feature Matchingcited by 62
  8. 2022Correlation Verification for Image Retrievalcited by 47
  9. 2021P2-Net: Joint Description and Detection of Local Features for Pixel and Point Matchingcited by 42
  10. 2021Planar Surface Reconstruction from Sparse Viewscited by 40
  11. 2025MatchAnything: Universal Cross-Modality Image Matching with Large-Scale Pre-Trainingcited by 40
  12. 2024DeDoDe v2: Analyzing and Improving the DeDoDe Keypoint Detectorcited by 38
38 more
  1. 2022BALF: Simple and Efficient Blur Aware Local Feature Detectorcited by 34
  2. 2024Reconstructing People, Places, and Camerascited by 31
  3. 2022Adaptive Assignment for Geometry Aware Local Feature Matchingcited by 30
  4. 2022Decoupling Makes Weakly Supervised Local Feature Bettercited by 28
  5. 2022Self-Supervised Equivariant Learning for Oriented Keypoint Detectioncited by 26
  6. 2022ReDFeat: Recoupling Detection and Description for Multimodal Feature Learningcited by 26
  7. 2024Local Feature Matching Using Deep Learning: A Surveycited by 26
  8. 2023A Robust and Interpretable Deep Learning Framework for Multi-modal Registration via Keypointscited by 25
  9. 2024Matching 2D Images in 3D: Metric Relative Pose from Metric Correspondencescited by 25
  10. 2023Adaptive Spot-Guided Transformer for Consistent Local Feature Matchingcited by 22
  11. 2021NinjaDesc: Content-Concealing Visual Descriptors via Adversarial Learningcited by 21
  12. 2022Partially Does It: Towards Scene-Level FG-SBIR with Partial Inputcited by 20
  13. 2022ECO-TR: Efficient Correspondences Finding Via Coarse-to-Fine Refinementcited by 18
  14. 2021DFM: A Performance Baseline for Deep Feature Matchingcited by 17
  15. 2024MESA: Matching Everything by Segmenting Anythingcited by 16
  16. 2023Segment Anything Model is a Good Teacher for Local Feature Learningcited by 15
  17. 2023Deep Learning for Visual Localization and Mapping: A Surveycited by 14
  18. 2023S-TREK: Sequential Translation and Rotation Equivariant Keypoints for local feature extractioncited by 13
  19. 2024Learning to Make Keypoints Sub-Pixel Accuratecited by 13
  20. 2024Towards Foundation Models for 3D Vision: How Close Are We?cited by 13
  21. 2025RDD: Robust Feature Detector and Descriptor using Deformable Transformercited by 13
  22. 2021ScaleNet: A Shallow Architecture for Scale Estimationcited by 12
  23. 2025DaD: Distilled Reinforcement Learning for Diverse Keypoint Detectioncited by 12
  24. 2023Enhancing Deformable Local Features by Jointly Learning to Detect and Describe Keypointscited by 11
  25. 2023Two-View Geometry Scoring Without Correspondencescited by 11
  26. 2021SIFT Matching by Context Exposedcited by 9
  27. 2022MTLDesc: Looking Wider to Describe Bettercited by 9
  28. 2022Self-Supervised Learning of Image Scale and Orientationcited by 9
  29. 2023Searching from Area to Point: A Hierarchical Framework for Semantic-Geometric Combined Feature Matchingcited by 9
  30. 2021Probabilistic Spatial Distribution Prior Based Attentional Keypoints Matching Networkcited by 8
  31. 2021DenseGAP: Graph-Structured Dense Correspondence Learning with Anchor Pointscited by 8
  32. 2022Sim2Real Object-Centric Keypoint Detection and Descriptioncited by 8
  33. 2023LFM-3D: Learnable Feature Matching Across Wide Baselines Using 3D Signalscited by 8
  34. 2023Structured Epipolar Matcher for Local Feature Matchingcited by 8
  35. 2025CA-I2P: Channel-Adaptive Registration Network with Global Optimal Selectioncited by 8
  36. 2021Matching in the Dark: A Dataset for Matching Image Pairs of Low-light Scenescited by 7
  37. 2022A Critical Analysis of Image-based Camera Pose Estimation Techniquescited by 7
  38. 2023Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimizationcited by 7

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