Simultaneous localization and mapping (SLAM) is the task of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.
( Image credit: ORB-SLAM2 )
We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.
This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments.
Representing the reconstruction volumetrically as a TSDF leads to most of the simplicity and efficiency that can be achieved with GPU implementations of these systems.
We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM).
The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w. r. t the observed environment (scene).
We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments.
Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms.