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://128.84.21.199/pdf/1610.06475.pdf
Programming language(s)C++
HardwareIntel Core i7-6700K
Websitehttp://webdiis.unizar.es/~raulmur/orbslam/
Source code or download URLhttps://github.com/raulmur/ORB_SLAM2
Submission creation date17 Jun, 2019
Last edited17 Jun, 2019

High-res multi-view results



Infoallhigh-res
multi-view
indooroutdoorbotani.boulde.bridgedoorexhibi.lectur.living.loungeobserv.old co.statueterrac.
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Low-res many-view results



Infoalllow-res
many-view
indooroutdoorlakesidesand boxstorage roomstorage room 2tunnel
No results yet.

Low-res two-view results



Infoalldeliv. area 1ldeliv. area 1sdeliv. area 2ldeliv. area 2sdeliv. area 3ldeliv. area 3select. 1lelect. 1select. 2lelect. 2select. 3lelect. 3sfacade 1sforest 1sforest 2splayg. 1lplayg. 1splayg. 2lplayg. 2splayg. 3lplayg. 3sterra. 1sterra. 2sterra. 1lterra. 1sterra. 2lterra. 2s
No results yet.

SLAM results



allcables 1cables 2cables 3camera shake 1camera shake 2camera shake 3ceiling 1ceiling 2desk 3desk changing 1einstein 1einstein 2einstein darkeinstein flashlighteinstein global light changes 1einstein global light changes 2einstein global light changes 3kidnap 1kidnap darklarge loop 1mannequin 1mannequin 3mannequin 4mannequin 5mannequin 7mannequin face 1mannequin face 2mannequin face 3mannequin headmotion 1planar 2planar 3plant 1plant 2plant 3plant 4plant 5plant darkplant scene 1plant scene 2plant scene 3reflective 1repetitivesfm benchsfm gardensfm house loopsfm lab room 1sfm lab room 2sofa 1sofa 2sofa 3sofa 4sofa dark 1sofa dark 2sofa dark 3sofa shaketable 3table 4table 7vicon light 1vicon light 2
MethodInfo
copyleftmany views156.100.740.801.636.89failfailfailfailfail0.40failfailfailfail0.86failfail1.191.524.989.26fail0.370.11fail8.96fail0.525.710.160.282.010.170.41fail1.593.75failfail5.58failfail1.85failfailfailfailfail0.560.830.99failfail