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Computer Vision with Python 3 by Saurabh Kapur

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rBRIEF – Rotation-aware BRIEF

BRIEF is a feature description algorithm that is also known for its fast speed of computation. However, BRIEF also isn't invariant to rotation. ORB tries to add this functionality, without losing out on the speed aspect of BRIEF. The feature vector obtained by n binary tests in BRIEF is as follows:

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