提取ORB描述子，即Oriented FAST and Rotated BRIEF，此种描述子相较于BREIF来说，对目标的旋转具有很好的鲁棒性，另外对于噪声的效果也很好。-Extraction ORB descr iptors, namely Oriented FAST and Rotated BRIEF, this descr iptor is compared BREIF in on the target rotation has good robustness, in addition