An example apparatus for selecting keypoints in image includes a keypoint detector to detect keypoints in a plurality of received images. The apparatus also includes a score calculator to calculate a keypoint score for each of the detected keypoints based on a descriptor score indicating descriptor invariance. The apparatus includes a keypoint selector to select keypoints based on the calculated keypoint scores. The apparatus also further includes a descriptor calculator to calculate descriptors for each of the selected keypoints. The apparatus also includes a descriptor matcher to match corresponding descriptors between images in the plurality of received images. The apparatus further also includes a feature tracker to track a feature in the plurality of images based on the matched descriptors.