ORB-SLAM2

This repository is a fork of ORB-SLAM2, incorporating updates to utilize most recent libraries.

This modified version serves as a baseline for Visual Simultaneous Localization and Mapping (VSLAM) experiments within the VSLAM-LAB environment.

Getting Started

If you want to run ORB-SLAM2 on your own data that is not contained in VSLAM-LAB, you can follow these steps.

Installation

To ensure all dependencies are properly installed, we suggest using mamba. If you haven't installed mamba yet, please download and set up miniforge, which is a more streamlined installer. This installer will create a "base" environment that includes the conda and mamba package managers.

If you already have a conda installation, you can add mamba by running:

conda install mamba -c conda-forge

Clone the repository:

git clone https://github.com/alejandrofontan/ORB_SLAM2.git && cd ORB_SLAM2

Create the environment:

mamba env create -f environment.yml

mamba activate orbslam2

Build ORB-SLAM2:

./build.sh

Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)

Related Publications:

[Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.

[Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, 2017. PDF.

[DBoW2 Place Recognizer] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF

License

ORB-SLAM2 is released under a GPLv3 license. For a list of all code/library dependencies (and associated licenses), please see Dependencies.md.

For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es.

If you use ORB-SLAM2 (Monocular) in an academic work, please cite:

@article{murTRO2015,
  title={{ORB-SLAM}: a Versatile and Accurate Monocular {SLAM} System},
  author={Mur-Artal, Ra\'ul, Montiel, J. M. M. and Tard\'os, Juan D.},
  journal={IEEE Transactions on Robotics},
  volume={31},
  number={5},
  pages={1147--1163},
  doi = {10.1109/TRO.2015.2463671},
  year={2015}
 }

if you use ORB-SLAM2 (Stereo or RGB-D) in an academic work, please cite:

@article{murORB2,
  title={{ORB-SLAM2}: an Open-Source {SLAM} System for Monocular, Stereo and {RGB-D} Cameras},
  author={Mur-Artal, Ra\'ul and Tard\'os, Juan D.},
  journal={IEEE Transactions on Robotics},
  volume={33},
  number={5},
  pages={1255--1262},
  doi = {10.1109/TRO.2017.2705103},
  year={2017}
 }