# Keypoint orientation with the oFAST from Rublee's ORB

I've just read the papers from Rublee et al. (ORB: an efﬁcient alternative to SIFT or SURF) and Rosten et al. (Machine learning for high-speed corner detection) (=fast-detector). Rublee tries to explain the oriented-FAST-Detector an its improvements.

But there is one thin I can't understand. He assumes that a detected corner is not the real centroid of this corner. He uses the image moments to determine the real centroid. He then computes the atan2 to get the orientation of the intensity patch.

The Question is: What will he do with this orientation? I don't see any sentence about a shift of a possible corner-point using the orientation and den centroid.

-