ORB-SLAM2 requires enough information about the environment to initialize, so you can manually move the robot around to avoid large changes in translation or orientation. After ORB-SLAM2 initialized it will start publishing octomap. Aug 24, 2017 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. ORB SLAM2 restricts updates to a local map, unless specific measurements suggest that a global update is needed, which is a lot more efficient if you can make it work. It was not immediately obvious (to me) that when one landmark’s belief is updated in EKF SLAM, all are.
ORB-SLAM2 is a complete 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 CPUs in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving around a city.
Source: Mur-Artal and Tardos
Image source: Mur-Artal and Tardos
Source: ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D CamerasOrb Slam2 Imu
Papers
Tasks
| Task | Papers | Share |
|---|---|---|
| Simultaneous Localization and Mapping | 5 | 21.74% |
| Visual Odometry | 3 | 13.04% |
| Semantic Segmentation | 2 | 8.70% |
| Autonomous Vehicles | 2 | 8.70% |
| Visual Localization | 2 | 8.70% |
| Instance Segmentation | 1 | 4.35% |
| Optical Flow Estimation | 1 | 4.35% |
| Monocular Visual Odometry | 1 | 4.35% |
| Visual Navigation | 1 | 4.35% |
Usage Over Time
This feature is experimental; we are continuously improving our matching algorithm.Components
Orb Slam2 Gpu
Orb Slam2 Pdf
| Component | Type |
|---|---|
| 🤖 No Components Found | You can add them if they exist; e.g. Mask R-CNN uses RoIAlign |