Different from FAST, the ORB descriptor extractor scales according to the number of pixels of the input image, even though it relies on FAST to detect features.

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Finally, the Hamming matcher benchmarks are below. To perform this measurements, we used a set of 500 descriptors as the test descriptors (e.g., number of descriptors extracted from an image), being matched to a database containing 500 to 5 million descriptors, separated by a factor of 10.

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