title: Implementation of ORB
body: <p>I just used an open source implementation of an ORB.</p>
  
  <p>How can I implement ORB further by adding new modules?</p>
  
  <p>What can I do from my end in order to get better results than just using an ORB.</p>
  
  <p>Am thinking of to use RANSAC for eliminating the outliers and to get better results.</p>
  
  <p>Am struck at this point waiting for an ideas for further implementation of an ORB.</p>
  
  <p>Any ideas on Homography implementation in circular and triangular shapes?</p>