{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/yolopoint-joint-keypoint-and-object-detection","title":"YOLOPoint Joint Keypoint and Object Detection","arxiv_id":"2402.03989","date":"2024-02-06","proceeding":null,"authors":["Anton Backhaus","Thorsten Luettel","Hans-Joachim Wuensche"],"abstract":"Intelligent vehicles of the future must be capable of understanding and navigating safely through their surroundings. Camera-based vehicle systems can use keypoints as well as objects as low- and high-level landmarks for GNSS-independent SLAM and visual odometry. To this end we propose YOLOPoint, a convolutional neural network model that simultaneously detects keypoints and objects in an image by combining YOLOv5 and SuperPoint to create a single forward-pass network that is both real-time capable and accurate. By using a shared backbone and a light-weight network structure, YOLOPoint is able to perform competitively on both the HPatches and KITTI benchmarks.","url_abs":"https://arxiv.org/abs/2402.03989v1","url_pdf":"https://arxiv.org/pdf/2402.03989v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"yolopoint-joint-keypoint-and-object-detection","repo_url":"https://github.com/unibwtas/yolopoint","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"visual-odometry","task_name":"Visual Odometry"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}