Fig. 1. Flow chart of algorithm

Fig. 2. Schematic diagram of different scale space of image

Fig. 3. Schematic diagram of feature points positioning

Fig. 4. Schematic diagram of process for main direction determination

Fig. 5. Schematic diagram of feature descriptors generation

Fig. 6. Schematic diagram of actual extraction of feature points

Fig. 7. Schematic diagram of feature points extraction

Fig. 8. Schematic diagram of matching results

Fig. 9. Schematic diagram of affine transformation

Fig. 10. Schematic diagram of image splicing

Fig. 11. Heterogeneous implementation process of feature extraction module and corresponding sub-modules

Fig. 12. Memory stack, task mapping and task scheduling of heterogeneous algorithms on Jetson board

Fig. 13. Integration of communication wrapper in system

Fig. 14. Schematic diagram of partial input data

Fig. 15. Output results

Fig. 16. Output results and details of plane scan and sector scan