ORB: an efficient alternative to SIFT or SURF Ethan Rublee Vincent Rabaud Kurt Konolige Gary Bradski Willow Garage, Menlo Park, California {erublee}{vrabaud}{konolige}{bradski}@willowgarage.com Abstract Feature matching is at the base of many computer vi- sion problems, such as object recognition or structure from motion. Current methods rely on costly descriptors for de- tection and matching. In