I am currently building a feature matching module. The hardware (AGX) should be used as efficiently as possible. Basically the pipeline consists of feature detection, description and matching.
The ORB implementation in OpenCV seems to be widely used. But its resource usage is quite low / inefficient.
The Harris corner detector from VPI looks like a good way to offload some compute from the GPU to the PVA. Is there any keypoint descriptor algorithm (like BRIEF from ORB) that is optimized for jetson devices? The only official descriptor implementation from Nvidia I came across is the HoG texture descriptor from NPP, which does not fit our application (we are looking for keypoint descriptors for sparse matching, not for texture descriptors).
I would appreciate any hints for where I could find some optimized implementations :)