Appearance-based keypoint clustering
We present an algorithm for clustering sets of detected interest points into groups that correspond to visually distinct structure. Through the use of a suitable colour and texture representation, our clustering method is able to identify keypoints that belong to separate objects or background regions. These clusters are then used to constrain the matching of keypoints over pairs of images, resulting in greatly improved matching under difficult conditions. We present a thorough evaluation of each component of the algorithm, and show its usefulness on difficult matching problems.