Description
ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the KITTI dataset as stereo or monocular, in the TUM dataset as RGB-D or monocular, and in the EuRoC dataset as stereo or monocular. We also provide a ROS node to process live monocular, stereo or RGB-D streams. The library can be compiled without ROS. ORB-SLAM2 provides a GUI to change between a SLAM Mode and Localization Mode.
This algorithm forms the basis of many other variants of 3D SLAM.
Useful links
https://github.com/raulmur/ORB_SLAM2
Advantages
- Large community
- Tested on well-known data sets
- Clear explanation on installation and use
- Fully open source
- ROS integrated as well as stand alone
Disadvantages
- Many pre-requisites
- Tested on older versions of Ubuntu (Linux)
- Windows compatibility less support
Specifications
- Tested on ubuntu 16.04
- Works with:
- Single camera
- Stereo camera
- RGB-D camera
Year of release
13 Jan 2017
Tags
3D SLAM, Simultaneous Localisation and Mapping, Monocular SLAM, Stereo, RGB-D