publication . Article . Preprint . Other literature type . 2017

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

Raul Mur-Artal; Juan D. Tardós;
Open Access
  • Published: 01 Oct 2017 Journal: IEEE Transactions on Robotics, volume 33, pages 1,255-1,262 (issn: 1552-3098, eissn: 1941-0468, Copyright policy)
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Comment: Accepted for publication in IEEE Transactions on Robotics
Subjects
free text keywords: Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition, Simultaneous localization and mapping, Bundle adjustment, Orb (optics), Monocular, Computer vision, RGB color model, Source code, media_common.quotation_subject, media_common, Computer science, Visual odometry, Feature extraction, Artificial intelligence, business.industry, business
Related Organizations
23 references, page 1 of 2

[1] R. Mur-Artal, J. M. M. Montiel, and J. D. Tardo´s, “ORB-SLAM: a versatile and accurate monocular SLAM system,” IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015.

[2] A. Geiger, P. Lenz, C. Stiller, and R. Urtasun, “Vision meets robotics: The KITTI dataset,” The International Journal of Robotics Research, vol. 32, no. 11, pp. 1231-1237, 2013.

[3] J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers, “A benchmark for the evaluation of RGB-D SLAM systems,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, pp. 573-580.

[4] R. A. Newcombe, A. J. Davison, S. Izadi, P. Kohli, O. Hilliges, J. Shotton, D. Molyneaux, S. Hodges, D. Kim, and A. Fitzgibbon, “KinectFusion: Real-time dense surface mapping and tracking,” in IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2011.

[5] L. M. Paz, P. Pinie´s, J. D. Tardo´s, and J. Neira, “Large-scale 6-DOF SLAM with stereo-in-hand,” IEEE Transactions on Robotics, vol. 24, no. 5, pp. 946-957, 2008.

[6] J. Civera, A. J. Davison, and J. M. M. Montiel, “Inverse depth parametrization for monocular SLAM,” IEEE Transactions on Robotics, vol. 24, no. 5, pp. 932-945, 2008.

[7] H. Strasdat, J. M. M. Montiel, and A. J. Davison, “Visual SLAM: Why filter?” Image and Vision Computing, vol. 30, no. 2, pp. 65-77, 2012.

[8] H. Strasdat, A. J. Davison, J. M. M. Montiel, and K. Konolige, “Double window optimisation for constant time visual SLAM,” in IEEE International Conference on Computer Vision (ICCV), 2011, pp. 2352-2359.

[9] C. Mei, G. Sibley, M. Cummins, P. Newman, and I. Reid, “RSLAM: A system for large-scale mapping in constant-time using stereo,” International Journal of Computer Vision, vol. 94, no. 2, pp. 198- 214, 2011.

[10] T. Pire, T. Fischer, J. Civera, P. De Crist o´foris, and J. J. Berlles, “Stereo parallel tracking and mapping for robot localization,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 1373-1378.

[11] J. Engel, J. Stueckler, and D. Cremers, “Large-scale direct SLAM with stereo cameras,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

[12] T. Whelan, M. Kaess, H. Johannsson, M. Fallon, J. J. Leonard, and J. McDonald, “Real-time large-scale dense RGB-D SLAM with volumetric fusion,” The International Journal of Robotics Research, vol. 34, no. 4-5, pp. 598-626, 2015.

[13] F. Endres, J. Hess, J. Sturm, D. Cremers, and W. Burgard, “3-D mapping with an RGB-D camera,” IEEE Transactions on Robotics, vol. 30, no. 1, pp. 177-187, 2014.

[14] C. Kerl, J. Sturm, and D. Cremers, “Dense visual SLAM for RGB-D cameras,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

[15] T. Whelan, R. F. Salas-Moreno, B. Glocker, A. J. Davison, and S. Leutenegger, “ElasticFusion: Real-time dense SLAM and light source estimation,” The International Journal of Robotics Research, 2016.

23 references, page 1 of 2
Abstract
Comment: Accepted for publication in IEEE Transactions on Robotics
Subjects
free text keywords: Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition, Simultaneous localization and mapping, Bundle adjustment, Orb (optics), Monocular, Computer vision, RGB color model, Source code, media_common.quotation_subject, media_common, Computer science, Visual odometry, Feature extraction, Artificial intelligence, business.industry, business
Related Organizations
23 references, page 1 of 2

[1] R. Mur-Artal, J. M. M. Montiel, and J. D. Tardo´s, “ORB-SLAM: a versatile and accurate monocular SLAM system,” IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015.

[2] A. Geiger, P. Lenz, C. Stiller, and R. Urtasun, “Vision meets robotics: The KITTI dataset,” The International Journal of Robotics Research, vol. 32, no. 11, pp. 1231-1237, 2013.

[3] J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers, “A benchmark for the evaluation of RGB-D SLAM systems,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, pp. 573-580.

[4] R. A. Newcombe, A. J. Davison, S. Izadi, P. Kohli, O. Hilliges, J. Shotton, D. Molyneaux, S. Hodges, D. Kim, and A. Fitzgibbon, “KinectFusion: Real-time dense surface mapping and tracking,” in IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2011.

[5] L. M. Paz, P. Pinie´s, J. D. Tardo´s, and J. Neira, “Large-scale 6-DOF SLAM with stereo-in-hand,” IEEE Transactions on Robotics, vol. 24, no. 5, pp. 946-957, 2008.

[6] J. Civera, A. J. Davison, and J. M. M. Montiel, “Inverse depth parametrization for monocular SLAM,” IEEE Transactions on Robotics, vol. 24, no. 5, pp. 932-945, 2008.

[7] H. Strasdat, J. M. M. Montiel, and A. J. Davison, “Visual SLAM: Why filter?” Image and Vision Computing, vol. 30, no. 2, pp. 65-77, 2012.

[8] H. Strasdat, A. J. Davison, J. M. M. Montiel, and K. Konolige, “Double window optimisation for constant time visual SLAM,” in IEEE International Conference on Computer Vision (ICCV), 2011, pp. 2352-2359.

[9] C. Mei, G. Sibley, M. Cummins, P. Newman, and I. Reid, “RSLAM: A system for large-scale mapping in constant-time using stereo,” International Journal of Computer Vision, vol. 94, no. 2, pp. 198- 214, 2011.

[10] T. Pire, T. Fischer, J. Civera, P. De Crist o´foris, and J. J. Berlles, “Stereo parallel tracking and mapping for robot localization,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 1373-1378.

[11] J. Engel, J. Stueckler, and D. Cremers, “Large-scale direct SLAM with stereo cameras,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

[12] T. Whelan, M. Kaess, H. Johannsson, M. Fallon, J. J. Leonard, and J. McDonald, “Real-time large-scale dense RGB-D SLAM with volumetric fusion,” The International Journal of Robotics Research, vol. 34, no. 4-5, pp. 598-626, 2015.

[13] F. Endres, J. Hess, J. Sturm, D. Cremers, and W. Burgard, “3-D mapping with an RGB-D camera,” IEEE Transactions on Robotics, vol. 30, no. 1, pp. 177-187, 2014.

[14] C. Kerl, J. Sturm, and D. Cremers, “Dense visual SLAM for RGB-D cameras,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

[15] T. Whelan, R. F. Salas-Moreno, B. Glocker, A. J. Davison, and S. Leutenegger, “ElasticFusion: Real-time dense SLAM and light source estimation,” The International Journal of Robotics Research, 2016.

23 references, page 1 of 2
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