Extraction of ORB Features with an Improved Method

Improvement of the extraction means of the ORB (Oriented FAST and Rotated BRIEF) feature primarily includes optimization concerning excessive aggregation of ORB features and the improvement of the problem that the correct features could not be extracted when regional image illumination is too bright. First, the local self-adaptive threshold was calculated on the basis of the threshold and FAST features were extracted based on the local threshold as the candidate feature points. Then, image iteration was divided into disparate regions and the optimal feature points of the local region were selected as the extraction result. The experimental data showed that the aggregation level of the improved ORB feature lowered more obviously than that of the ORB feature, which adapted to local illumination and the threshold value with high stability; however, the time still met real-time demands.