Feature detection, sorting, and tracking in images using a circular buffer

A method for tracking features in image data, comprising:

• obtaining, by executing an instruction with at least one processor, a first line of pixels of an image from a camera;
• storing the first line of pixels in a circular buffer, the circular buffer to store a first number of lines of pixels of the image, the first number of lines to be fewer than a total number of lines of pixels of the image, a subsequent second line of pixels of the image to be stored over the first line of pixels in the circular buffer at a later time;
• detecting, by executing an instruction with the at least one processor, features in a first group of lines of pixels of the image from the circular buffer, the first group including the first line of pixels of the image;
• sorting, by executing an instruction with the at least one processor, the detected features to generate sorted feature points;
• and
• tracking, by executing an instruction with the at least one processor, the sorted feature points in a second group of lines of pixels of the image, the second group including the subsequent second line of pixels of the image.

At least one computer readable storage device comprising computer readable instructions that, when executed, cause a computing device to at least:

• obtain a first line of pixels of an image from a camera;
• store the first line of pixels in a circular buffer, the circular buffer to store a first number of lines of pixels of the image, the first number of lines to be fewer than a total number of lines of pixels of the image;
• detect one or more features in a first group of lines of pixels of the image from the circular buffer, the first group including the first line of pixels of the image;
• sort the detected features to generate sorted feature points;
• replace the first line of pixels of the image in the circular buffer with a subsequent second line of pixels of the image;
• and
• track the sorted feature points in a second group of lines of pixels of the image, the second group including the subsequent second line of pixels of the image.