Why FAST is Fast

Feature detection in C

The FAST Algorithm

Features from Accelerated Segment Test (FAST) is a corner detection algorithm invented in 2006 by Edward Rosten and Tom Drummond. As the name implies, it was the first detector quick enough to process video in real-time. Today, FAST is used to solve tracking and mapping problems in robotics and computer vision.

Though many FAST tutorials exist, most are rehashed from the (excellent) original paper or worse, directly copied from each other. The paper, wikipedia article, and tutorials provide a good overview, but they neglect implementation details that are critical to the algorithm's speed. In this article, I reimplement the FAST feature detector as a single-header C library and attempt to fill gaps in the existing tutorials.

#include <fmt/format.h>

void main(int argc, char** argv) {
    fmt::print("Hello, world!\n");
    return 0;


FAST Times

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