<s>
Oriented	B-Algorithm
FAST	I-Algorithm
and	I-Algorithm
rotated	I-Algorithm
BRIEF	I-Algorithm
(	O
ORB	B-Algorithm
)	O
is	O
a	O
fast	O
robust	O
local	O
feature	O
detector	O
,	O
first	O
presented	O
by	O
Ethan	O
Rublee	O
et	O
al	O
.	O
</s>
<s>
in	O
2011	O
,	O
that	O
can	O
be	O
used	O
in	O
computer	B-Application
vision	I-Application
tasks	O
like	O
object	O
recognition	O
or	O
3D	B-Algorithm
reconstruction	I-Algorithm
.	O
</s>
<s>
It	O
is	O
based	O
on	O
the	O
FAST	B-Algorithm
keypoint	I-Algorithm
detector	I-Algorithm
and	O
a	O
modified	O
version	O
of	O
the	O
visual	O
descriptor	O
BRIEF	O
(	O
Binary	O
Robust	O
Independent	O
Elementary	O
Features	O
)	O
.	O
</s>
<s>
Its	O
aim	O
is	O
to	O
provide	O
a	O
fast	O
and	O
efficient	O
alternative	O
to	O
SIFT	B-Algorithm
.	O
</s>
