OpenCV Orb not finding matches once rotation/scale invariances are introduced

Question

I am working on a project using the Orb feature detector in OpenCV 2.3.1 . I am finding matches between 8 different images, 6 of which are very similar (20 cm difference in

Answer 1

I don't think there is anything very wrong with your code. From my experience opencv's ORB is sensitive to scale variations.

You can probably confirm this with a small test, make some images with rotation only and some with scale variations only. The rotation ones will probably match fine but the scale ones won't (i think decreasing scale is the worst).

I also advise you to try the opencv version from the trunk (see opencv's site for compile instructions), ORB as been updated since 2.3.1 and performs a little better but still has those scale problems.