Orb Slam2

本文总结了特征点法slam中目前效果最好的方法:orb-slam2 / orb-slam3 相关改进代码汇总,包括加速、多传感器融合、稠密建图、线特征、点线融合、导航、动态环境、多平台移植等。. Oct 20, 2016 ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras Raul Mur-Artal, Juan D. Tardos We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.

Localization Models
  1. Nov 11, 2020 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. You can use control to move your robot around.
  2. 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.
  3. May 17, 2020 ROS (Robotic Operating System1) has a variety of packages for all your robotics need and SLAM is no exception to that. For this post we are going to be looking at the orbslam2ros package which supports a lot of cameras out of the box (complete list). First, make sure you have ROS installed and setup (installation guide here).
Introduced by Mur-Artal et al. in ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

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

Orb

Image source: Mur-Artal and Tardos

Source: ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

Papers

Orb Slam2 Desable Relocalization

Tasks

TaskPapersShare
Simultaneous Localization and Mapping521.74%
Visual Odometry313.04%
Semantic Segmentation28.70%
Autonomous Vehicles28.70%
Visual Localization28.70%
Instance Segmentation14.35%
Optical Flow Estimation14.35%
Monocular Visual Odometry14.35%
Visual Navigation14.35%

Usage Over Time

This feature is experimental; we are continuously improving our matching algorithm.

Components

ComponentType
🤖 No Components FoundYou can add them if they exist; e.g. Mask R-CNN uses RoIAlign

Categories

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Orb Slam 2 Github