SURF on a Raspberry Pi is gonna be slow no matter what—it’s just too computationally heavy. If you’re open to it, switching to ORB would be a huge speed boost since it’s way more efficient and works surprisingly well for matching. If you have to stick with SURF, downscaling your frames before processing will help, and you might get away with skipping every few frames instead of running detection on all of them. Also, running feature detection in a separate thread while keeping the main thread focused on grabbing frames can keep things smoother. For matching, BFMatcher and FLANN are decent, but something like Faiss or a KD-Tree might speed things up. Basically, you’ll need a mix of these tricks to push the FPS higher while keeping detection decent.