This third post in our series about binary descriptors that will talk about the ORB descriptor [1]. We had an introduction to patch descriptors, an introduction to binary descriptors and a post about the BRIEF [2] descriptor.
We’ll start by showing the following figure that shows an example of using ORB to match between real world images with viewpoint change. Green lines are valid matches, red circles indicate unmatched points.
ORB descriptor – An example of keypoints matching using ORB
Gil's CV blog 