With fast growing popularity of smart phones in recent years, augmented reality (AR) becomes more demanding than ever before. However, one of main challenges is that while features like SIFT or SURF are robust in matchings, they are not computationally efficient. In this paper, we propose an efficient matching method for robust features. A distinctive descriptor is also proposed for performance improvements. Besides, we have developed an outdoor augmented reality system that is based on our proposed methods. The system demonstrates that not only it can achieve robust matchings efficiently, it is also capable to handle large occlusions such as passengers and moving vehicles.