ORB-SLAM

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

Authors
Raul Mur-Artal; J. M. M. Montiel; Juan D. Tardos;

Get the Source Code via SVN
svn co https://svn.openslam.org/data/svn/orbslam

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.


Input Data
Monochrome/Color Images

Type of Map
Sparse 3D points, keyFrame poses and covisibility graph

Hardware/Software Requirements
Tested in Ubuntu 12.04
ROS (tested with Fuerte, Groovy and Hydro), Boost, BLAS, LAPACK and CHOLMOD

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)

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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