Detialed contrast of feature point with multi-scale ORB and others

Experimental data is a single-channel grayscale image sequence which collected from the camera installed driverless vehicle platform with resolution of 1234 * 1624. Furthermore, for this project, a computer with an Intel Core i5-5246m running at 2.20 GHz and 8 GB RAM using Windows 10 which program environment is C++ was used.Test

1. Scale factor

2. Brightness

3. Rotation

4. Noise

5. Computing time