Description: GPU Accelerating Speeded-Up Robust Features. Many computer vision tasks require interest point detection and description, such as real-time visual navigation. We present a GPU implementation of the recently proposed Speeded-Up Robust Feature extractor, currently the state of the art for
this task. Robust feature descriptors can give vast improvements
in the quality and speed of subsequent steps, but require intensive
computation up front that is well-suited to inexpensive graphics
hardware. We describe the algorithm’s translation to the GPU in
detail, with several novel optimizations, including a new method
of computing multi-dimensional parallel prefix sums. It operates
at over 30 Hz at HD resolutions with thousands of features and
in excess of 70 Hz at SD resolutions.
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