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. 2018 Aug 15;9(9):4317–4328. doi: 10.1364/BOE.9.004317

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Published by The Optical Society under the terms of the Creative Commons Attribution 4.0 License. Further distribution of this work must maintain attribution to the author(s) and the published article's title, journal citation, and DOI.

Published by The Optical Society under the terms of the Creative Commons Attribution 4.0 License. Further distribution of this work must maintain attribution to the author(s) and the published article's title, journal citation, and DOI.

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Fig. 4 — Computing ORB Features. (a) There are 11 contiguous pixels on the circular arc (white dashed) around pixel (a, b) which are lighter than it (pixels with bold edges). (b) An intensity centroid (grey circle) is calculated giving the keypoint an orientation; and an example pixel pair used to calculate the BRIEF descriptor (c) The location of pixel pairs after aligning to the orientation. Note the changing colours of the pixel pairs is only to ensure visibility of the points within the figure.