In　Simultaneous　Localization　and　Mapping　(SLAM),　the　Oriented　FAST　and　Rotated　BRIEF　(ORB)　algorithm　is　key　for　feature　detection　and　description,　but　its　computational　demands,　particularly　in　arctangent　angle　computation,　hinder　real-time　use　on　embedded　systems.　To　solve　this,　we　introduce　PttAcc,　a　hardware　accelerator　using　pipeline　architecture　and　the　Taylor　expansion　fitting　algorithm.　Our　simulations　show　PttAcc　significantly　accelerates　arctangent　computation　while　maintaining　accuracy,　reducing　total　area　by　82.56%　and　power　consumption　by　63.49%　compared　to　Coordinate　Rotation　Digital　Computer　(CORDIC)　components.　It　achieves　a　performance　acceleration　ratio　of　15.8　and　speeds　up　descriptor　tasks　by　up　to　4.3　times.　©　2009-2012　IEEE.