Introduction to ORB (Oriented FAST and Rotated BRIEF)

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Oriented FAST and Rotated BRIEF (ORB) was developed at OpenCV labs by Ethan Rublee, Vincent Rabaud, Kurt Konolige, and Gary R. Bradski in 2011, as an efficient and viable alternative to SIFT and SURF. ORB was conceived mainly because SIFT and SURF are patented algorithms.