Abstract: The present disclosure provides techniques for feature detection and extraction. An example method includes obtaining a downsampled image comprising first pixels at a first resolution that is less than a second resolution; generating, with a neural network, for each pixel of the first pixels, a first respective probability that the pixel is a key point; upsampling the downsampled image to a second image comprising second pixels at a third resolution that is greater than the first resolution, wherein each pixel of the second pixels is associated with a corresponding pixel of the first pixels and the first respective probability associated with the corresponding pixel; generating, with the neural network, for each pixel of the second pixels for which the associated first respective probability is greater than a threshold probability, a second respective probability that the pixel is a key point; extracting a respective descriptor; and executing a localization task.