ORB-SLAM3 is the first real-time SLAM library able to perform Visual, Visual-Inertial and Multi-Map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. In all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature, and significantly more accurate.

2023年2月3日 · ORB-SLAM 是一种基于ORB特征的三维定位与地图构建算法（SLAM） [1]。 该算法由Raul Mur-Artal，J. M. M. Montiel和Juan D. Tardos于2015年发表在 IEEE Transactions on Robotics。 ORB-SLAM基于PTAM架构，增加了地图初始化和闭环检测的功能，优化了 关键帧 选取和地图构建的方法，在处理速度、追踪效果和地图精度上都取得了不错的效果。 要注意ORB-SLAM构建的地图是稀疏的。 ORB-SLAM一开始基于monocular camera，后来扩展到Stereo …

2015年8月24日 · Abstract: This paper presents ORB-SLAM, a feature-based monocular simultaneous localization and mapping (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.

2015年2月3日 · 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.

2011年2月4日 · 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.

2023年1月13日 · 主动ORB-SLAM2（Active-ORB-SLAM2）是一种增强版的视觉SLAM（Simultaneous Localization and Mapping）系统，它在经典的ORB-SLAM2基础上加入了主动决策策略，旨在提高定位精度和地图构建效率。

ORB-SLAM is a versatile and accurate Monocular SLAM solution 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 to a car driven around several city blocks.

2020年5月19日 · orb-slam2采用了orb特征点提取和描述符匹配技术，以及图优化和闭环检测算法，从而实现了高精度的地图构建和相机定位。orb-slam2可以应用于室内外的多种场景，如机器人导航、增强现实和虚拟现实等领域。 《

本篇文章将向大家介绍在 SLAM 中使用的相关优化算法及其在 ORB-SLAM3 中相关模块中的具体应用案例。. 首先，SLAM系统的核心功能之一为视觉里程计（ Visual Odometry, VO，也通常称为前端，记录智能体随时间变化在场景中运动的姿势方向和位移，由于前端长时间运行会出现累积漂移和误差，因此也还有 ...

这篇文章将向大家介绍回环和地图合并检测相关实现逻辑，和局部建图器类似，回环检测实现的类为LoopClosing（该类同时也实现了回环矫正和地图合并及矫正，其中矫正和合并的内容将于后续文章介绍），和局部建图器模…