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Pro and con BRIEF and ORB compared to SIFT

I do some research in representing local functions, so SIFT, SURF, etc.

Now, has anyone here ever tried BRIEF and ORB ? If so, can you discuss which of the pros and con are related to SIFT?

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computer-vision sift feature-detection
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Here is one comparison that I found useful. In fact, BRIEF and ORB are much faster. There is no good comparison of scale invariance, but I personally found SURF / SIFT to be a larger scale invariant than BRIEF and ORB. I recommend that if you intend to use them for a specific use case, try both options to see what best suits your needs.

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SURF / SIFT uses patents that need to be paid in some way. I will not be aware of this, but the costs can be significant. So I would go with ORB if possible - except, of course, if you do not need money :)

SIFT: Algorithm is patented in the USA; Owner - University of British Columbia. ( http://en.wikipedia.org/wiki/Scale-invariant_feature_transform )

SURF: The algorithm application is patented in the USA. ( http://en.wikipedia.org/wiki/SURF )

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