Table 6: Computation speed comparison of the proposed system with different software implementation using area-based and feature-based registrations.

Platform Frequency Registration technique Frame rate Hardware speed-up

Proposed SoC 100 MHz Area-based 30 1
Intel Core i5-4210U 1.70 GHz Area-based 4.26 7.04
Feature-based 13.11 2.29
ARM1176JZF 700 MHz Area-based 0.20 150
Feature-based 0.56 53.57