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arXiv · 2602.20630

From Pairs to Sequences: Track-Aware Policy Gradients for Keypoint Detection

Yepeng Liu·Hao Li·Liwen Yang·Fangzhen Li·Xudi Ge·Yuliang Gu·kuang Gao·Bing Wang·Guang Chen·Hangjun Ye·Yongchao Xu
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Abstract

Keypoint-based matching is a fundamental component of modern 3D vision systems, such as Structure-from-Motion (SfM) and SLAM. Most existing learning-based methods are trained on image pairs, a paradigm that fails to explicitly optimize for the long-term trackability of keypoints across sequences under challenging viewpoint and illumination changes. In this paper, we reframe keypoint detection as a sequential decision-making problem. We introduce TraqPoint, a novel, end-to-end Reinforcement Learning (RL) framework designed to optimize the \textbf{Tra}ck-\textbf{q}uality (Traq) of keypoints directly on image sequences. Our core innovation is a track-aware reward mechanism that jointly encourages the consistency and distinctiveness of keypoints across multiple views, guided by a policy gradient method. Extensive evaluations on sparse matching benchmarks, including relative pose estimation and 3D reconstruction, demonstrate that TraqPoint significantly outperforms some state-of-the-art (SOTA) keypoint detection and description methods.The code will be available at https://github.com/xiaomi-research/traqpoint.

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Yepeng Liu, Hao Li, Liwen Yang, Fangzhen Li, Xudi Ge, Yuliang Gu, kuang Gao, Bing Wang, Guang Chen, Hangjun Ye, Yongchao Xu. 2026-02-24. From Pairs to Sequences: Track-Aware Policy Gradients for Keypoint Detection. https://arxiv.org/abs/2602.20630

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