ORB-SLAM2 swMATH ID: 31237 Software Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel, Dorian Galvez-Lopez (DBoW2) 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, see section 9 of this document. Homepage: https://arxiv.org/abs/1610.06475 Source Code: https://github.com/raulmur/ORB_SLAM2 Related Software: ORB-SLAM; MonoSLAM; SURF; LSD-SLAM; DTAM; KITTI; SuperPoint; HPatches; SVO; TILDE; LF-Net; SIFT; PointNet; BRISK; SOSNet; L2-Net; Theia; R2D2; SuperGlue; FaceNet Cited in: 16 Publications all top 5 Cited by 51 Authors 2 Garcia-Salguero, Mercedes 2 Gonzalez-Jimenez, Javier 2 Milford, Michael John 1 Alfaro, Iciar 1 Badías, Alberto 1 Briales, Jesus 1 Bukal, Mario 1 Cai, Guangbin 1 Cen, Ruping 1 Ćesić, Josip 1 Chen, Zetao 1 Chinesta, Francisco 1 Cueto, Elias 1 Evangelidis, Georgios D. 1 Fan, Aoxiang 1 Farhan, Erez 1 Fursov, V. A. 1 Harasztos, Frigyes 1 Hasselmo, Michael E. 1 Hausler, Stephen 1 Hollósi, Gergely 1 Hu, Youjian 1 Jiang, Junjun 1 Jiang, Xingyu 1 Kotov, A. P. 1 Lee, Jeong-Kyun 1 Li, Guiqing 1 Li, Xiaofeng 1 Lukovszki, Csaba 1 Ma, Jiayi 1 Marković, Ivan 1 Mičušík, Branislav 1 Minaev, E. Yu. 1 Moldován, István 1 Petrovic, Ivan 1 Plósz, Sándor 1 Qin, Zixuan 1 Shang, Jianga 1 Szeliski, Richard 1 Tao, Yulin 1 Xu, Hui 1 Xue, Fangzheng 1 Yan, Junchi 1 Yang, Feng 1 Yang, Xiaogang 1 Yao, Erliang 1 Yin, Mengxiao 1 Yoon, Kuk-Jin 1 Yu, Fangwen 1 Zhang, Xinyue 1 Zhang, Yuxin all top 5 Cited in 12 Serials 3 International Journal of Computer Vision 2 Biological Cybernetics 2 SIAM Journal on Imaging Sciences 1 Computer Methods in Applied Mechanics and Engineering 1 Journal of the Franklin Institute 1 Automatica 1 Computer Aided Geometric Design 1 Automation and Remote Control 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 9 Fields 11 Computer science (68-XX) 3 Operations research, mathematical programming (90-XX) 3 Systems theory; control (93-XX) 2 Calculus of variations and optimal control; optimization (49-XX) 2 Numerical analysis (65-XX) 2 Biology and other natural sciences (92-XX) 1 Mechanics of particles and systems (70-XX) 1 Mechanics of deformable solids (74-XX) 1 Information and communication theory, circuits (94-XX) Citations by Year