Aiming at the problem of poor scale invariance of traditional ORB algorithms

this paper proposes an ORB algorithm based on image golden tower. Firstly

Gauss image pyramid and B-Spline image pyramid are studied

and the two image pyramids are discussed through experiments. Experimental results show that the image information of the third order B-Spline image pyramid is higher than that of the Golden Tower of Gauss image on the same layer. Secondly

the traditional ORB algorithm

the ORB algorithm based on Gaussian image pyramid and the ORB algorithm based on B-Spline image pyramid are discussed through experiments under the premise of changing image scale. Experimental results show that the registration rate of feature points extracted by ORB algorithm based on third-order B-Spline image pyramid is 40% higher than that of traditional ORB algorithm. At the same time

compared with the ORB algorithm based on gaussian image pyramid

the improved algorithm proposed in this paper has improved the matching accuracy and running speed.