Localization Models
ORB-SLAM2 ROS node This is the ROS implementation of the ORB-SLAM2 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 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
Oct 20, 2016 We present ORB-SLAM2 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. Our back-end based on bundle adjustment with. Feb 03, 2015 This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization. ORB-SLAM2: an Open-Source SLAM Systemfor Monocular, Stereo and RGB-D Cameras. Graph SLAM solver in Python. A complete, extensible Graph SLAM solver written in Python that combines ease of use with g2o-like functionality.
Image source: Mur-Artal and Tardos
Source: ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
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 Save Map
| Component | Type |
|---|---|
| 🤖 No Components Found | You can add them if they exist; e.g. Mask R-CNN uses RoIAlign |
Categories
Orb Slam2 Ros Tutorial
Orb Slam2 Gpu
The project is on GitHub. This is a Python code collection of robotics algorithms. Features: Easy to read for understanding each algorithm's basic idea. Widely used and practical algorithms are selected. Minimum dependency. See this paper for more details: [1808.10703] PythonRobotics: a Python code collection of robotics algorithms
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Orb Slam2
Pierre Moulon has created a cmake version of Bundler (allowing for compilation on Linux, Mac, and Windows) available on github here. Pierre also has a github repository for CMVS / PMVS. Marc Downie has created a nice set of tools for running Bundler on Mac OS X called easyBundler We are extending Bundler to city-scale photo collections.