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ORB-SLAM is a keyframe and feature-based Monocular SLAM. It operates in real-time in large environments, being able to close loops
and perform camera relocalisation from very different viewpoints.
Further information | |
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Authors Raul Mur-Artal; J. M. M. Montiel; Juan D. Tardos; | |
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Get the Source Code! | |
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Long Description ORB-SLAM is a versatile and accurate Monocular SLAM solution able to compute in real-time the camera trajectory and a sparse 3D reconstruction of the scene in a wide variety of environments, ranging from small hand-held sequences to a car driven around several city blocks. It is able to close large loops and perform global relocalisation in real-time and from wide baselines. It includes an automatic and robust initialization from planar and non-planar scenes. A novel survival of the fittest keyframe selection allows to maintain a compact map, while improving the tracking robustness as keyframes are inserted very fast during exploration. | |
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Input Data Monochrome/Color Images | |
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Type of Map Sparse 3D points, keyFrame poses and covisibility graph | |
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Hardware/Software Requirements Tested in Ubuntu 12.04 ROS (tested with Fuerte, Groovy and Hydro), Boost, BLAS, LAPACK and CHOLMOD | |
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Papers Describing the Approach Raul Mur-Artal, J. M. M. Montiel and Juan D. Tardos: ORB-SLAM: a Versatile and Accurate Monocular SLAM, IEEE Transactions on Robotics, under review. ArXiv preprint, 2015 (link) | |
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License Information This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. The authors allow the users of OpenSLAM.org to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by OpenSLAM.org. ORB-SLAM is released under a GPLv3 license. For a closed-source version of ORB-SLAM for commercial purposes, please contact the authors. ORB-SLAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. | |
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*** OpenSLAM.org is not responsible for the content of this webpage *** *** Copyright and V.i.S.d.P.: Raul Mur-Artal; J. M. M. Montiel; Juan D. Tardos; *** |