A method includes receiving a first image, receiving a motion dataset, determining a motion level, determining an initialization state, and determining a tracking level. In a first condition, the method includes generating a first image pyramid, detecting a plurality of features in the first image pyramid using a first detector threshold, and generating a first set of detected keypoints from the plurality of features. In a second condition, the method includes generating a second image pyramid, detecting the plurality of features in the second image pyramid using a second detector threshold, the second detector threshold being less restrictive than the first detector threshold, and generating a second set of detected keypoints. In a third condition, the method includes detecting the plurality of features in the first image according to the first detector threshold and generating a third set of detected keypoint.