METHOD, APPARATUS, AND SYSTEM FOR GENERATING FEATURE CORRESPONDENCE FROM CAMERA GEOMETRY

An approach is provided for determining a feature correspondence based on camera geometry. The approach, for example, involves determining a first labeled or detected pixel location in a first image and a second labeled or detected pixel location in a second image. The approach also involves computing a first ray from a first camera position of the first image through the first labeled or detected pixel location. The approach further involves computing a second ray from a second camera position of the second image through the second labeled or detected pixel location. The approach further involves computing a closeness value of the first ray and the second ray. The approach further involves providing an output indicating the feature correspondence between the first labeled or detected pixel location and the second labeled or detected pixel location based on determining that the closeness value is within a threshold value.