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GPU-accelerated feature point matching using extended ColourFAST descriptors

A real-time feature point matching algorithm is introduced. It extracts vector-based ColourFAST feature strength and direction measures from the colour channels of the pixels in an image. This information is combined with the relative locations of the feature points to provide frame-by-frame scale and rotation invariant matching. The resulting algorithm is specifically designed for high throughput and optimised for GPU pipelining on embedded devices. Results are given showing high-framerate matching is achieved on 720p resolution images.