An embodiment is a method for detecting image features, the method including extracting a stripe from a digital image, the stripe including of a plurality of blocks; processing the plurality of blocks for localizing one or more keypoints; and detecting one or more image features based on the one or more localized keypoints. The mobile toy includes a wheel assembly having a hubcap for removably engaging a wheel of the wheel assembly. The dome is positioned underneath the key that abuts the dome.