This document describes SURF (Speeded Up Robust Features), a feature detection and description algorithm. SURF approximates or outperforms previous schemes in terms of repeatability, distinctiveness, and robustness, while being faster to compute. It relies on integral images for image convolutions and combines a Hessian matrix-based detector with a distribution-based descriptor. Experimental results show SURF outperforms SIFT, GLOH, and other descriptors in object recognition tasks under various image conditions, while being significantly faster to compute.