This description relates to image feature extraction. In some examples, a system can include a keypoint detector and a feature list generator. The keypoint detector can be configured to upsample a keypoint score map to produce an upsampled keypoint score map. The keypoint score map can include feature scores indicative of a likelihood of at least one feature being present at keypoints in an image. The feature list generator can be configured to identify a subset of keypoints of the keypoints in the image using the feature scores of the up sampled keypoint score map, determine descriptors for the subset of keypoints based on a feature description map, and generate a keypoint descriptor map for the image based on the determined descriptors.