Steerers: A Framework for Rotation Equivariant Keypoint Descriptors

Figure 1. Matching under large in-plane rotations. Two challenging pairs from AIMS [49]. The left images in each pair were taken by astronauts on the ISS and are geo-referenced by matching them with the satellite images on the right. We plot estimated inlier correspondences after homography estimation with RANSAC. Further qualitative examples are shown in the appendix.