In the process of realizing image Mosaic

ORB algorithm can solve the real-time problem of operation well. However

due to the distance change between the robot and the actual environment

results in change of image size or the image is blurred jittering in the process of movement

the matching efficiency and accuracy of algorithm are poor. To solve this problem

an improved ORB feature extraction and matching algorithm is proposed. Firstly

feature points with scale invariance are extracted

then the feature points are classified and matched by Hamming distance

and finally

the mismatched points are effectively eliminated by the improved RANSAC algorithm.Experimental results show that the improved algorithm can improve the matching efficiency and accuracy and meet the real-time requirements

at the same time.