Methods and apparatus to match images using semantic features are disclosed. An example apparatus includes a semantic labeler to determine a semantic label for each of a first set of points of a first image and each of a second set of points of a second image; a binary robust independent element features (BRIEF) determiner to determine semantic BRIEF descriptors for a first subset of the first set of points and a second subset of the second set of points based on the semantic labels; and a point matcher to match first points of the first subset of points to second points of the second subset of points based on the semantic BRIEF descriptors.