Forked from https://github.com/raulmur/ORB_SLAM2, the intention of this project is to modify ORB-SLAM2 to support integration with Ardupilot. Feel free to chat via gitter here: https://gitter.im/ArduPilot/ardupilot/VisionProjects
Original Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)
ORB-SLAM2 is released under a GPLv3 license. For a list of all code/library dependencies (and associated licenses), please see Dependencies.md.
If you use ORB-SLAM2 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}
}
[1] 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.
[2] 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