Submitted by Thomas Schöps.

Submission data

Full nameORB-SLAM2
DescriptionORB-SLAM is a versatile and accurate SLAM solution for Monocular, Stereo and RGB-D cameras. It is 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 of a desk 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.
ParametersDefault settings.
Publication titleORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
Publication authorsRaúl Mur-Artal, Juan D. Tardós
Publication venueIEEE Transactions on Robotics 2017
Publication URLhttps://
Programming language(s)C++
HardwareIntel Core i7-6700K
Source code or download URL
Submission creation date17 Jun, 2019
Last edited17 Jun, 2019

High-res multi-view results

multi-view co.statueterrac.
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Low-res many-view results

indooroutdoorlakesidesand boxstorage roomstorage room 2tunnel
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Low-res two-view results

Infoalllakes. 1llakes. 1ssand box 1lsand box 1sstora. room 1lstora. room 1sstora. room 2lstora. room 2sstora. room 2 1lstora. room 2 1sstora. room 2 2lstora. room 2 2sstora. room 3lstora. room 3stunnel 1ltunnel 1stunnel 2ltunnel 2stunnel 3ltunnel 3s
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SLAM results

allboxesboxes darkbuddhacables 4cables 5desk 1desk 2desk changing 2desk dark 1desk dark 2desk global light changesdesk ir lightdinodroneforeground occlusionhelmetkidnap 2lamplarge loop 2large loop 3large non loopmotion 2motion 3motion 4planar 1reflective 2scale changetable 1table 2table 5table 6table global light changestable local light changestable scenetrashbin
copyleftmany views104.280.401.16failfail0.91failfailfail0.122.910.370.440.47fail5.13failfailfail0.80failfail8.06fail7.520.81fail0.470.87failfail1.140.22