ORB (Oriented FAST and Rotated BRIEF) feature is wildly applied in visual SLAM because of its excellent computational efficiency and stability. Aiming at the problem of uneven distribution of ORB feature. and improving the calculate efficiency of feature extraction at the same time. we proposed an ORB feature extraction algorithm based on improved quadtree in this paper. https://safeersappliancers.shop/product-category/aeg-bse792320b-steampro-sous-vide-single-oven-60cm-wh/