GPU Accelerating Speeded-Up Robust Features. Many computer vision tasks require interest point detection and descr iption, 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 descr iptors 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.