ORB-SLAM swMATH ID: 18887 Software Authors: Mur-Artal, Raúl; Montiel, J. M. M.; Tardós, Juan D. Description: ORB-SLAM: A Versatile and Accurate Monocular SLAM System. This paper presents ORB-SLAM, a feature-based monocular simultaneous localization and mapping (SLAM) system that operates in real time, in small and large indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization. Building on excellent algorithms of recent years, we designed from scratch a novel system that uses the same features for all SLAM tasks: tracking, mapping, relocalization, and loop closing. A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content changes, allowing lifelong operation. We present an exhaustive evaluation in 27 sequences from the most popular datasets. ORB-SLAM achieves unprecedented performance with respect to other state-of-the-art monocular SLAM approaches. For the benefit of the community, we make the source code public. Homepage: http://ieeexplore.ieee.org/abstract/document/7219438/ Related Software: ORB-SLAM2; KITTI; SURF; MonoSLAM; SVO; FastSLAM; SIFT; Theia; DTAM; HPatches; LSD-SLAM; VINS-Mono; Adam; EuRoC; FivePoint; FIVEPOINT; SDPT3; SeDuMi; BRISK; PointNet Cited in: 15 Documents all top 5 Cited by 42 Authors 3 Garcia-Salguero, Mercedes 3 Gonzalez-Jimenez, Javier 2 Milford, Michael John 1 Alfaro, Iciar 1 Badías, Alberto 1 Briales, Jesus 1 Bukal, Mario 1 Cai, Guangbin 1 Ćesić, Josip 1 Chen, Zetao 1 Chinesta, Francisco 1 Cueto, Elias 1 Evangelidis, Georgios D. 1 Fan, Aoxiang 1 Farhan, Erez 1 Harasztos, Frigyes 1 Hasselmo, Michael E. 1 Hausler, Stephen 1 Hollósi, Gergely 1 Hu, Youjian 1 Jiang, Junjun 1 Jiang, Xingyu 1 Lee, Jeong-Kyun 1 Li, Xiaofeng 1 Lukovszki, Csaba 1 Ma, Jiayi 1 Marković, Ivan 1 Mičušík, Branislav 1 Moldován, István 1 Petrovic, Ivan 1 Plósz, Sándor 1 Shang, Jianga 1 Szeliski, Richard 1 Wang, Zhuping 1 Xiang, Tianyu 1 Xu, Hui 1 Yan, Junchi 1 Yang, Xiaogang 1 Yao, Erliang 1 Yoon, Kuk-Jin 1 Yu, Fangwen 1 Zhao, Lingzhe all top 5 Cited in 11 Serials 3 International Journal of Computer Vision 2 Biological Cybernetics 2 SIAM Journal on Imaging Sciences 1 Artificial Intelligence 1 Computer Methods in Applied Mechanics and Engineering 1 Journal of the Franklin Institute 1 Automatica 1 Journal of Mathematical Imaging and Vision 1 Journal of Industrial and Management Optimization 1 Acta Universitatis Sapientiae. Informatica 1 Texts in Computer Science all top 5 Cited in 8 Fields 11 Computer science (68-XX) 3 Systems theory; control (93-XX) 2 Calculus of variations and optimal control; optimization (49-XX) 2 Numerical analysis (65-XX) 2 Operations research, mathematical programming (90-XX) 2 Biology and other natural sciences (92-XX) 1 Mechanics of particles and systems (70-XX) 1 Mechanics of deformable solids (74-XX) Citations by Year