Fig. 2From: Structure from motion using dense CNN features with keypoint relocalizationFeatures extracted using CNN. The figure summarizes blocks of convolutional layers of VGG-16 as an example of CNN architecture. Our SfM uses the layers colored in red as features. For example, given an input image of 1600×1200 pixels, we extract 256 dimensional features of 200×150 spatial resolution from the conv3 max-poolingBack to article page