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

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