ColourFAST: GPU-based feature point detection and tracking on mobile devices

A realtime feature point detection algorithm called ColourFAST is introduced. ColourFAST extracts vector-based feature strength and direction measures from the colour channels of any pixel in an image. The extracted information is applied to create an effective feature point tracker. These feature point and tracker algorithms have a pipeline design optimized for GPU processors. Results are provided for an implementation on mobile devices developed using programmable shaders. Its performance demonstrates several improvements over conventional FAST feature point detection and Lucas-Kanade tracking.