ORB-SLAM: a Versatile and Accurate Monocular SLAM System
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TLDR
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.Abstract:
This paper presents ORB-SLAM, a feature-based monocular 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.read more
Citations
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Joint Estimation of Camera Orientation and Vanishing Points from an Image Sequence in a Non-Manhattan World
Jeong-Kyun Lee,Kuk-Jin Yoon +1 more
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SGC-VSLAM: A Semantic and Geometric Constraints VSLAM for Dynamic Indoor Environments.
TL;DR: This evaluation revealed that the proposed SGC-VSLAM can effectively improve the positioning accuracy of the ORB-SLAM2 system in high-dynamic scenarios and was also able to build a map with the static parts of the real environment, which has long-term application value for autonomous mobile robots.
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