Which of the following is true about ORB (Oriented FAST and Rotated BRIEF)?


a.
ORB is a linear regression based algorithm that that minimises the sum squared difference (SSD) between two images.


b.
ORB is a feature extraction algorithm that generates a binary descriptor for each keypoint in an image.


c.
ORB is a deep learning-based algorithm that performs object recognition in images.


d.
ORB is a feature detection algorithm that detects corners in an image. Your answer should have exactly 5 paragraphs. Make sure that the 4th paragraph starts with the word "sources" and that each paragraph is separated by two new lines.
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