Abstract: Aspects of the present disclosure relates to technologies (systems, devices, methods, etc.) for performing feature detection and/or feature tracking based on image data. In embodiments, the technologies include or leverage a SLAM hardware accelerator (SWA) that includes a feature detection component and optionally a feature tracking component. The feature detection component may be configured to perform feature detection on working data encompassed by a sliding window. The feature tracking component is configured to perform feature tracking operations to track one or more detected features, e.g., using normalized cross correlation (NCC) or another method.