ORB: an efficient alternative to SIFT or SURF

Ethan Rublee, Vincent Rabaud, Kurt Konolige, Gary Bradski (2011)

Key points

Aimed at real-time
Rotation invariant, resistant to noise due to BRIEF
2 orders of magnitude faster than SIFT, and better performance than SURF
FAST keypoint detector + BRIEF descriptor
- Addition of orientation component to FAST based on the intensity centroid of corners
- Filter with Harris for corners (after applying FAST, which has no cornerness measure) + scale pyramid
- Addition of learning step to BRIEF, to make it invariant to rotation (rBRIEF)
Not scale invariant (was not addressed adequately)