ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras

  title={ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras},
  author={Raul Mur-Artal and Juan D. Tard{\'o}s},
  journal={IEEE Transactions on Robotics},
We present ORB-SLAM2, a complete simultaneous localization and mapping (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 central processing units 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 monocular and stereo observations, allows… 

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