ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM

This article presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multimap SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first main novelty is a tightly integrated visual-inertial SLAM system that fully relies on maximum a posteriori (MAP) estimation, even during IMU initialization, resulting in real-time rob...