Algorithm for ORB-TPLGD |
Input: Image data |
Output: Feature description vector for each feature point |
1: Extract feature points set from input image |
2: for do |
3: Define neighborhood of around feature point 4: In W, T three-patch groups are selected using Gaussian function, coordinates of the center point is |
5: Define size patches centered on point , |
6: for
do 7: if then bit = 1 8: else then bit = 0 |
9: end if |
10: end for (obtain a binary string ) 11: Calculate the difference within all three pixel patches groups Calculate the mean of all differences |
12: for do |
13: if then bit = 1 14: else then bit = 0 15: end if |
16: end for (obtain a binary string ) 17: and are fused to get final |
18: end for |