The way to construct binary descriptor

[OliverShaoPT]

Dear auther,
I have read some paper related to binary descriptor in LiDAR sensor area, such as, https://ieeexplore.ieee.org/document/10187686. In their works, the binary descriptor is extracted from the local submap like NDT. However, refer to your introduction, the binary descriptor is belong to each keypoint forming the triangle. In your STD paper, the process of selecting keypoints create a binary map looks like the corner point in camera SLAM, as following picture shows.

Can I suppose the way to construct binary descriptor is similar with the BRIEF feature in ORB-SLAM?

Thanks for your reply!