A CUDA implementation replaces FAST's branch-heavy tests with 32-bit bit masks and uses a semi-separable Sobel with circular buffers, reporting 2.2-4.5x faster FAST detection and up to 13x faster Harris scoring on embedded GPUs versus CUDA_ORB.
IEEE robotics & automation magazine, 13(2):99–110, 2006
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Faster than Fast: Accelerating Oriented FAST Feature Detection on Low-end Embedded GPUs
A CUDA implementation replaces FAST's branch-heavy tests with 32-bit bit masks and uses a semi-separable Sobel with circular buffers, reporting 2.2-4.5x faster FAST detection and up to 13x faster Harris scoring on embedded GPUs versus CUDA_ORB.