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Binary features are an efficient alternative to the SIFT descriptor, offering faster computation and compact representation, making them ideal for applications in mobile robots and autonomous cars that require real-time state estimation. Features refer to distinct points in an image, with descriptors providing a signature for these key points by analyzing a local neighborhood around them. This tutorial focuses on the BRIEF descriptor, a simple yet powerful binary descriptor suitable for visual SLAM systems that operate online. It facilitates the establishment of stereo correspondences between multiple image pairs and aids in place recognition tasks.