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

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… (More)

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