{"paper":{"title":"CFORB: Circular FREAK-ORB Visual Odometry","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Daniel J. Mankowitz, Ehud Rivlin","submitted_at":"2015-06-17T09:44:42Z","abstract_excerpt":"We present a novel Visual Odometry algorithm entitled Circular FREAK-ORB (CFORB). This algorithm detects features using the well-known ORB algorithm [12] and computes feature descriptors using the FREAK algorithm [14]. CFORB is invariant to both rotation and scale changes, and is suitable for use in environments with uneven terrain. Two visual geometric constraints have been utilized in order to remove invalid feature descriptor matches. These constraints have not previously been utilized in a Visual Odometry algorithm. A variation to circular matching [16] has also been implemented. This allo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1506.05257","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}