Details

Autor(en) / Beteiligte

• Mur-Artal, Raul
• Montiel, J. M. M.
• Tardos, Juan D.

Titel

ORB-SLAM: A Versatile and Accurate Monocular SLAM System

Ist Teil von

• IEEE transactions on robotics, 2015-10, Vol.31 (5), p.1147-1163

Ort / Verlag

New York: IEEE

Erscheinungsjahr

2015

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• 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. Building on excellent algorithms of recent years, we designed from scratch a novel system that uses the same features for all SLAM tasks: tracking, mapping, relocalization, and loop closing. A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content changes, allowing lifelong operation. We present an exhaustive evaluation in 27 sequences from the most popular datasets. ORB-SLAM achieves unprecedented performance with respect to other state-of-the-art monocular SLAM approaches. For the benefit of the community, we make the source code public.