ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras

• Published in: IEEE transactions on robotics Vol. 33; no. 5; pp. 1255 - 1262
• Main Authors: Mur-Artal, Raul, Tardos, Juan D.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Bundle adjustment; Cameras; Central processing units; CPUs; Driving; Feature extraction; Localization; mapping; Odometers; Optimization; RGB-D; Simultaneous localization and mapping; simultaneous localization and mapping (SLAM); Source code; State of the art; stereo; Tracking loops; Trajectory; Trajectory analysis
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2017.2705103

We present ORB-SLAM2, a complete simultaneous localization and mapping (SLAM) system for monocular, stereo and RGB-D cameras, including map reuse, loop closing, and relocalization capabilities. The system works in real time on standard central processing units in a wide variety of environments from...