1. An image processing system, comprising: one or more memories configured to store image data; and image processing circuitry, which, in operation: identifies one or more interest points in a first sub-region of image data associated with an image frame based upon an interest point threshold value; determines the interest point threshold value based at least in part upon a number of interest points identified in a previous sub-region of image data for the image frame; and processes image data associated with the image frame based on the identified interest points, wherein the image processing circuitry is configured to: determine the interest point threshold value based in part upon a recognition rate; generate descriptor data for at least one identified interest point; and evaluate matches between features of two or more images based at least in part on the descriptor data, wherein the image processing circuitry is configured to determine the interest point threshold value based in part upon a target number of interest points calculated for the previous sub-region.